Namespaces
namespace	default_topics
Classes
struct	EigenActuators
struct	EigenAttitudeThrust
class	EigenMavState
	Container holding the state of a MAV: position, velocity, attitude and angular velocity. In addition, holds the acceleration expressed in body coordinates, which is what the accelerometer usually measures. More...
struct	EigenOdometry
struct	EigenRateThrust
struct	EigenRollPitchYawrateThrust
struct	EigenTorqueThrust
struct	EigenTrajectoryPoint
Functions
void	eigenActuatorsFromMsg (const Actuators &msg, EigenActuators *actuators)
void	eigenAttitudeThrustFromMsg (const AttitudeThrust &msg, EigenAttitudeThrust *attitude_thrust)
void	EigenMavStateFromEigenTrajectoryPoint (const Eigen::Vector3d &acceleration, const Eigen::Vector3d &jerk, const Eigen::Vector3d &snap, double yaw, double yaw_rate, double yaw_acceleration, double magnitude_of_gravity, Eigen::Quaterniond orientation, Eigen::Vector3d acceleration_body, Eigen::Vector3d angular_velocity_body, Eigen::Vector3d angular_acceleration_body)
	Computes the MAV state (position, velocity, attitude, angular velocity, angular acceleration) from the flat state. Additionally, computes the acceleration expressed in body coordinates, i.e. the acceleration measured by the IMU. No air-drag is assumed here.
void	EigenMavStateFromEigenTrajectoryPoint (const Eigen::Vector3d &acceleration, const Eigen::Vector3d &jerk, const Eigen::Vector3d &snap, double yaw, double yaw_rate, double yaw_acceleration, Eigen::Quaterniond orientation, Eigen::Vector3d acceleration_body, Eigen::Vector3d angular_velocity_body, Eigen::Vector3d angular_acceleration_body)
void	EigenMavStateFromEigenTrajectoryPoint (const EigenTrajectoryPoint &flat_state, double magnitude_of_gravity, EigenMavState *mav_state)
void	EigenMavStateFromEigenTrajectoryPoint (const EigenTrajectoryPoint &flat_state, EigenMavState *mav_state)
	Convenience function with EigenTrajectoryPoint as input and EigenMavState as output with default value for the magnitude of the gravity vector.
void	eigenOdometryFromMsg (const nav_msgs::Odometry &msg, EigenOdometry *odometry)
void	eigenRateThrustFromMsg (const RateThrust &msg, EigenRateThrust *rate_thrust)
void	eigenRollPitchYawrateThrustFromMsg (const RollPitchYawrateThrust &msg, EigenRollPitchYawrateThrust *roll_pitch_yawrate_thrust)
void	eigenTorqueThrustFromMsg (const TorqueThrust &msg, EigenTorqueThrust *torque_thrust)
void	eigenTrajectoryPointDequeFromMsg (const trajectory_msgs::MultiDOFJointTrajectory &msg, EigenTrajectoryPointDeque *trajectory)
void	eigenTrajectoryPointFromMsg (const trajectory_msgs::MultiDOFJointTrajectoryPoint &msg, EigenTrajectoryPoint *trajectory_point)
void	eigenTrajectoryPointFromPoseMsg (const geometry_msgs::Pose &msg, EigenTrajectoryPoint *trajectory_point)
void	eigenTrajectoryPointFromPoseMsg (const geometry_msgs::PoseStamped &msg, EigenTrajectoryPoint *trajectory_point)
void	eigenTrajectoryPointFromTransformMsg (const geometry_msgs::TransformStamped &msg, EigenTrajectoryPoint *trajectory_point)
void	eigenTrajectoryPointVectorFromMsg (const trajectory_msgs::MultiDOFJointTrajectory &msg, EigenTrajectoryPointVector *trajectory)
void	getEulerAnglesFromQuaternion (const Eigen::Quaternion< double > &q, Eigen::Vector3d *euler_angles)
double	getShortestYawDistance (double yaw1, double yaw2)
void	getSquaredRotorSpeedsFromAllocationAndState (const Eigen::MatrixXd &allocation_inv, const Eigen::Vector3d &inertia, double mass, const Eigen::Vector3d &angular_velocity_B, const Eigen::Vector3d &angular_acceleration_B, const Eigen::Vector3d &acceleration_B, Eigen::VectorXd *rotor_rates_squared)
double	MagnitudeOfGravity (const double height, const double latitude_radians)
void	msgActuatorsFromEigen (const EigenActuators &actuators, Actuators *msg)
void	msgAttitudeThrustFromEigen (const EigenAttitudeThrust &attitude_thrust, AttitudeThrust *msg)
void	msgMultiDofJointTrajectoryFromEigen (const EigenTrajectoryPoint &trajectory_point, const std::string &link_name, trajectory_msgs::MultiDOFJointTrajectory *msg)
void	msgMultiDofJointTrajectoryFromEigen (const EigenTrajectoryPoint &trajectory_point, trajectory_msgs::MultiDOFJointTrajectory *msg)
void	msgMultiDofJointTrajectoryFromEigen (const EigenTrajectoryPointVector &trajectory, const std::string &link_name, trajectory_msgs::MultiDOFJointTrajectory *msg)
void	msgMultiDofJointTrajectoryFromEigen (const EigenTrajectoryPointVector &trajectory, trajectory_msgs::MultiDOFJointTrajectory *msg)
void	msgMultiDofJointTrajectoryFromEigen (const EigenTrajectoryPointDeque &trajectory, const std::string &link_name, trajectory_msgs::MultiDOFJointTrajectory *msg)
void	msgMultiDofJointTrajectoryFromEigen (const EigenTrajectoryPointDeque &trajectory, trajectory_msgs::MultiDOFJointTrajectory *msg)
void	msgMultiDofJointTrajectoryFromPositionYaw (const Eigen::Vector3d &position, double yaw, trajectory_msgs::MultiDOFJointTrajectory *msg)
void	msgMultiDofJointTrajectoryPointFromEigen (const EigenTrajectoryPoint &trajectory_point, trajectory_msgs::MultiDOFJointTrajectoryPoint *msg)
void	msgOdometryFromEigen (const EigenOdometry &odometry, nav_msgs::Odometry *msg)
void	msgPoseStampedFromEigenTrajectoryPoint (const EigenTrajectoryPoint &trajectory_point, geometry_msgs::PoseStamped *msg)
void	msgRateThrustFromEigen (EigenRateThrust &rate_thrust, RateThrust *msg)
void	msgRollPitchYawrateThrustFromEigen (const EigenRollPitchYawrateThrust &roll_pitch_yawrate_thrust, RollPitchYawrateThrust *msg)
void	msgTorqueThrustFromEigen (EigenTorqueThrust &torque_thrust, TorqueThrust *msg)
void	pointEigenToMsg (const Eigen::Vector3d &eigen, geometry_msgs::Point *msg)
void	quaternionEigenToMsg (const Eigen::Quaterniond &eigen, geometry_msgs::Quaternion *msg)
Eigen::Quaterniond	quaternionFromMsg (const geometry_msgs::Quaternion &msg)
Eigen::Quaterniond	quaternionFromYaw (double yaw)
void	setAngularVelocityMsgFromYawRate (double yaw_rate, geometry_msgs::Vector3 *msg)
void	setQuaternionMsgFromYaw (double yaw, geometry_msgs::Quaternion *msg)
Eigen::Vector3d	vector3FromMsg (const geometry_msgs::Vector3 &msg)
Eigen::Vector3d	vector3FromPointMsg (const geometry_msgs::Point &msg)
void	vectorEigenToMsg (const Eigen::Vector3d &eigen, geometry_msgs::Vector3 *msg)
double	yawFromQuaternion (const Eigen::Quaterniond &q)
	Extracts the yaw part from a quaternion, using RPY / euler (z-y'-z'') angles. RPY rotates about the fixed axes in the order x-y-z, which is the same as euler angles in the order z-y'-x''.
Variables
const double	kGravity = MagnitudeOfGravity(kZurichHeight, kZurichLatitude)
const double	kZurichHeight = 405.94
const double	kZurichLatitude = 0.8267

Function Documentation

void mav_msgs::eigenActuatorsFromMsg	(	const Actuators &	msg,
		EigenActuators *	actuators
	)		`[inline]`

Definition at line 54 of file conversions.h.

void mav_msgs::eigenAttitudeThrustFromMsg	(	const AttitudeThrust &	msg,
		EigenAttitudeThrust *	attitude_thrust
	)		`[inline]`

Definition at line 46 of file conversions.h.

void mav_msgs::EigenMavStateFromEigenTrajectoryPoint	(	const Eigen::Vector3d &	acceleration,
		const Eigen::Vector3d &	jerk,
		const Eigen::Vector3d &	snap,
		double	yaw,
		double	yaw_rate,
		double	yaw_acceleration,
		double	magnitude_of_gravity,
		Eigen::Quaterniond *	orientation,
		Eigen::Vector3d *	acceleration_body,
		Eigen::Vector3d *	angular_velocity_body,
		Eigen::Vector3d *	angular_acceleration_body
	)		`[inline]`

Computes the MAV state (position, velocity, attitude, angular velocity, angular acceleration) from the flat state. Additionally, computes the acceleration expressed in body coordinates, i.e. the acceleration measured by the IMU. No air-drag is assumed here.

Parameters:

[in]	acceleration	Acceleration of the MAV, expressed in world coordinates.
[in]	jerk	Jerk of the MAV, expressed in world coordinates.
[in]	snap	Snap of the MAV, expressed in world coordinates.
[in]	yaw	Yaw angle of the MAV, expressed in world coordinates.
[in]	yaw_rate	Yaw rate, expressed in world coordinates.
[in]	yaw_acceleration	Yaw acceleration, expressed in world coordinates.
[in]	magnitude_of_gravity	Magnitude of the gravity vector.
[out]	orientation	Quaternion representing the attitude of the MAV.
[out]	acceleration_body	Acceleration expressed in body coordinates, i.e. the acceleration usually by the IMU.
[out]	angular_velocity_body	Angular velocity of the MAV, expressed in body coordinates.
[out]	angular_acceleration_body	Angular acceleration of the MAV, expressed in body coordinates.

Definition at line 237 of file conversions.h.

void mav_msgs::EigenMavStateFromEigenTrajectoryPoint	(	const Eigen::Vector3d &	acceleration,
		const Eigen::Vector3d &	jerk,
		const Eigen::Vector3d &	snap,
		double	yaw,
		double	yaw_rate,
		double	yaw_acceleration,
		Eigen::Quaterniond *	orientation,
		Eigen::Vector3d *	acceleration_body,
		Eigen::Vector3d *	angular_velocity_body,
		Eigen::Vector3d *	angular_acceleration_body
	)		`[inline]`

Convenience function with default value for the magnitude of the gravity vector.

Definition at line 199 of file conversions.h.

void mav_msgs::EigenMavStateFromEigenTrajectoryPoint	(	const EigenTrajectoryPoint &	flat_state,
		double	magnitude_of_gravity,
		EigenMavState *	mav_state
	)		`[inline]`

Convenience function with EigenTrajectoryPoint as input and EigenMavState as output.

Definition at line 213 of file conversions.h.

void mav_msgs::EigenMavStateFromEigenTrajectoryPoint	(	const EigenTrajectoryPoint &	flat_state,
		EigenMavState *	mav_state
	)		`[inline]`

Convenience function with EigenTrajectoryPoint as input and EigenMavState as output with default value for the magnitude of the gravity vector.

Definition at line 232 of file conversions.h.

void mav_msgs::eigenOdometryFromMsg	(	const nav_msgs::Odometry &	msg,
		EigenOdometry *	odometry
	)		`[inline]`

Definition at line 105 of file conversions.h.

void mav_msgs::eigenRateThrustFromMsg	(	const RateThrust &	msg,
		EigenRateThrust *	rate_thrust
	)		`[inline]`

Definition at line 78 of file conversions.h.

void mav_msgs::eigenRollPitchYawrateThrustFromMsg	(	const RollPitchYawrateThrust &	msg,
		EigenRollPitchYawrateThrust *	roll_pitch_yawrate_thrust
	)		`[inline]`

Definition at line 94 of file conversions.h.

void mav_msgs::eigenTorqueThrustFromMsg	(	const TorqueThrust &	msg,
		EigenTorqueThrust *	torque_thrust
	)		`[inline]`

Definition at line 86 of file conversions.h.

void mav_msgs::eigenTrajectoryPointDequeFromMsg	(	const trajectory_msgs::MultiDOFJointTrajectory &	msg,
		EigenTrajectoryPointDeque *	trajectory
	)		`[inline]`

Definition at line 364 of file conversions.h.

void mav_msgs::eigenTrajectoryPointFromMsg	(	const trajectory_msgs::MultiDOFJointTrajectoryPoint &	msg,
		EigenTrajectoryPoint *	trajectory_point
	)		`[inline]`

Definition at line 310 of file conversions.h.

void mav_msgs::eigenTrajectoryPointFromPoseMsg	(	const geometry_msgs::Pose &	msg,
		EigenTrajectoryPoint *	trajectory_point
	)		`[inline]`

Definition at line 142 of file conversions.h.

void mav_msgs::eigenTrajectoryPointFromPoseMsg	(	const geometry_msgs::PoseStamped &	msg,
		EigenTrajectoryPoint *	trajectory_point
	)		`[inline]`

Definition at line 156 of file conversions.h.

void mav_msgs::eigenTrajectoryPointFromTransformMsg	(	const geometry_msgs::TransformStamped &	msg,
		EigenTrajectoryPoint *	trajectory_point
	)		`[inline]`

Definition at line 121 of file conversions.h.

void mav_msgs::eigenTrajectoryPointVectorFromMsg	(	const trajectory_msgs::MultiDOFJointTrajectory &	msg,
		EigenTrajectoryPointVector *	trajectory
	)		`[inline]`

Definition at line 352 of file conversions.h.

void mav_msgs::getEulerAnglesFromQuaternion	(	const Eigen::Quaternion< double > &	q,
		Eigen::Vector3d *	euler_angles
	)		`[inline]`

Definition at line 130 of file common.h.

double mav_msgs::getShortestYawDistance	(	double	yaw1,
		double	yaw2
	)		`[inline]`

Definition at line 143 of file common.h.

void mav_msgs::getSquaredRotorSpeedsFromAllocationAndState	(	const Eigen::MatrixXd &	allocation_inv,
		const Eigen::Vector3d &	inertia,
		double	mass,
		const Eigen::Vector3d &	angular_velocity_B,
		const Eigen::Vector3d &	angular_acceleration_B,
		const Eigen::Vector3d &	acceleration_B,
		Eigen::VectorXd *	rotor_rates_squared
	)		`[inline]`

Definition at line 178 of file common.h.

double mav_msgs::MagnitudeOfGravity	(	const double	height,
		const double	latitude_radians
	)		`[inline]`

Magnitude of Earth's gravitational field at specific height [m] and latitude [rad] (from wikipedia).

Definition at line 35 of file common.h.

void mav_msgs::msgActuatorsFromEigen	(	const EigenActuators &	actuators,
		Actuators *	msg
	)		`[inline]`

Definition at line 378 of file conversions.h.

void mav_msgs::msgAttitudeThrustFromEigen	(	const EigenAttitudeThrust &	attitude_thrust,
		AttitudeThrust *	msg
	)		`[inline]`

Definition at line 398 of file conversions.h.

void mav_msgs::msgMultiDofJointTrajectoryFromEigen	(	const EigenTrajectoryPoint &	trajectory_point,
		const std::string &	link_name,
		trajectory_msgs::MultiDOFJointTrajectory *	msg
	)		`[inline]`

Definition at line 476 of file conversions.h.

void mav_msgs::msgMultiDofJointTrajectoryFromEigen	(	const EigenTrajectoryPoint &	trajectory_point,
		trajectory_msgs::MultiDOFJointTrajectory *	msg
	)		`[inline]`

Definition at line 489 of file conversions.h.

void mav_msgs::msgMultiDofJointTrajectoryFromEigen	(	const EigenTrajectoryPointVector &	trajectory,
		const std::string &	link_name,
		trajectory_msgs::MultiDOFJointTrajectory *	msg
	)		`[inline]`

Definition at line 508 of file conversions.h.

void mav_msgs::msgMultiDofJointTrajectoryFromEigen	(	const EigenTrajectoryPointVector &	trajectory,
		trajectory_msgs::MultiDOFJointTrajectory *	msg
	)		`[inline]`

Definition at line 529 of file conversions.h.

void mav_msgs::msgMultiDofJointTrajectoryFromEigen	(	const EigenTrajectoryPointDeque &	trajectory,
		const std::string &	link_name,
		trajectory_msgs::MultiDOFJointTrajectory *	msg
	)		`[inline]`

Definition at line 535 of file conversions.h.

void mav_msgs::msgMultiDofJointTrajectoryFromEigen	(	const EigenTrajectoryPointDeque &	trajectory,
		trajectory_msgs::MultiDOFJointTrajectory *	msg
	)		`[inline]`

Definition at line 556 of file conversions.h.

void mav_msgs::msgMultiDofJointTrajectoryFromPositionYaw	(	const Eigen::Vector3d &	position,
		double	yaw,
		trajectory_msgs::MultiDOFJointTrajectory *	msg
	)		`[inline]`

Definition at line 496 of file conversions.h.

void mav_msgs::msgMultiDofJointTrajectoryPointFromEigen	(	const EigenTrajectoryPoint &	trajectory_point,
		trajectory_msgs::MultiDOFJointTrajectoryPoint *	msg
	)		`[inline]`

Definition at line 455 of file conversions.h.

void mav_msgs::msgOdometryFromEigen	(	const EigenOdometry &	odometry,
		nav_msgs::Odometry *	msg
	)		`[inline]`

Definition at line 429 of file conversions.h.

void mav_msgs::msgPoseStampedFromEigenTrajectoryPoint	(	const EigenTrajectoryPoint &	trajectory_point,
		geometry_msgs::PoseStamped *	msg
	)		`[inline]`

Definition at line 444 of file conversions.h.

void mav_msgs::msgRateThrustFromEigen	(	EigenRateThrust &	rate_thrust,
		RateThrust *	msg
	)		`[inline]`

Definition at line 405 of file conversions.h.

void mav_msgs::msgRollPitchYawrateThrustFromEigen	(	const EigenRollPitchYawrateThrust &	roll_pitch_yawrate_thrust,
		RollPitchYawrateThrust *	msg
	)		`[inline]`

Definition at line 419 of file conversions.h.

void mav_msgs::msgTorqueThrustFromEigen	(	EigenTorqueThrust &	torque_thrust,
		TorqueThrust *	msg
	)		`[inline]`

Definition at line 412 of file conversions.h.

void mav_msgs::pointEigenToMsg	(	const Eigen::Vector3d &	eigen,
		geometry_msgs::Point *	msg
	)		`[inline]`

Definition at line 80 of file common.h.

void mav_msgs::quaternionEigenToMsg	(	const Eigen::Quaterniond &	eigen,
		geometry_msgs::Quaternion *	msg
	)		`[inline]`

Definition at line 88 of file common.h.

Eigen::Quaterniond mav_msgs::quaternionFromMsg ( const geometry_msgs::Quaternion & msg ) [inline]

Definition at line 59 of file common.h.

Eigen::Quaterniond mav_msgs::quaternionFromYaw ( double yaw ) [inline]

Definition at line 108 of file common.h.

void mav_msgs::setAngularVelocityMsgFromYawRate	(	double	yaw_rate,
		geometry_msgs::Vector3 *	msg
	)		`[inline]`

Definition at line 122 of file common.h.

void mav_msgs::setQuaternionMsgFromYaw	(	double	yaw,
		geometry_msgs::Quaternion *	msg
	)		`[inline]`

Definition at line 112 of file common.h.

Eigen::Vector3d mav_msgs::vector3FromMsg ( const geometry_msgs::Vector3 & msg ) [inline]

Definition at line 51 of file common.h.

Eigen::Vector3d mav_msgs::vector3FromPointMsg ( const geometry_msgs::Point & msg ) [inline]

Definition at line 55 of file common.h.

void mav_msgs::vectorEigenToMsg	(	const Eigen::Vector3d &	eigen,
		geometry_msgs::Vector3 *	msg
	)		`[inline]`

Definition at line 72 of file common.h.

double mav_msgs::yawFromQuaternion ( const Eigen::Quaterniond & q ) [inline]

Extracts the yaw part from a quaternion, using RPY / euler (z-y'-z'') angles. RPY rotates about the fixed axes in the order x-y-z, which is the same as euler angles in the order z-y'-x''.

Definition at line 103 of file common.h.

Variable Documentation

const double mav_msgs::kGravity = MagnitudeOfGravity(kZurichHeight, kZurichLatitude)

Definition at line 30 of file default_values.h.

const double mav_msgs::kZurichHeight = 405.94

Definition at line 29 of file default_values.h.

const double mav_msgs::kZurichLatitude = 0.8267

Definition at line 28 of file default_values.h.

Namespaces

Classes

Functions

Variables

Function Documentation

Variable Documentation