Namespaces
	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

Enumerations
enum	MavActuation { DOF4 = 4, DOF6 = 6 }
	Actuated degrees of freedom. More...

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. More...

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 &trajectory_point, 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. More...

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)

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)

bool	isRotationMatrix (const Eigen::Matrix3d &mat)

double	MagnitudeOfGravity (const double height, const double latitude_radians)

void	matrixFromRotationVector (const Eigen::Vector3d &vec, Eigen::Matrix3d *mat)

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)

double	nanosecondsToSeconds (int64_t nanoseconds)

Eigen::Vector3d	omegaDotFromRotationVector (const Eigen::Vector3d &rot_vec, const Eigen::Vector3d &rot_vec_vel, const Eigen::Vector3d &rot_vec_acc)

Eigen::Vector3d	omegaFromRotationVector (const Eigen::Vector3d &rot_vec, const Eigen::Vector3d &rot_vec_vel)

EigenTrajectoryPoint	operator* (const Eigen::Affine3d &lhs, const EigenTrajectoryPoint &rhs)

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)

int64_t	secondsToNanoseconds (double seconds)

void	setAngularVelocityMsgFromYawRate (double yaw_rate, geometry_msgs::Vector3 *msg)

void	setQuaternionMsgFromYaw (double yaw, geometry_msgs::Quaternion *msg)

void	skewMatrixFromVector (const Eigen::Vector3d &vec, Eigen::Matrix3d *vec_skew)

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)

bool	vectorFromRotationMatrix (const Eigen::Matrix3d &mat, Eigen::Vector3d *vec)

bool	vectorFromSkewMatrix (const Eigen::Matrix3d &vec_skew, Eigen::Vector3d *vec)

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''. More...

Variables
const double	kGravity = MagnitudeOfGravity(kZurichHeight, kZurichLatitude)

const double	kNumNanosecondsPerSecond = 1.e9

const double	kSmallValueCheck = 1.e-6

const double	kZurichHeight = 405.94

const double	kZurichLatitude = 0.8267

Enumeration Type Documentation

enum mav_msgs::MavActuation

Actuated degrees of freedom.

Enumerator
DOF4
DOF6

Definition at line 33 of file eigen_mav_msgs.h.

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 253 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 &	trajectory_point,
		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 248 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 380 of file conversions.h.

void mav_msgs::eigenTrajectoryPointFromMsg	(	const trajectory_msgs::MultiDOFJointTrajectoryPoint &	msg,
		EigenTrajectoryPoint *	trajectory_point
	)

inline

Definition at line 326 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 368 of file conversions.h.

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

inline

Definition at line 134 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 334 of file common.h.

bool mav_msgs::isRotationMatrix ( const Eigen::Matrix3d & mat )

inline

Definition at line 167 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 39 of file common.h.

void mav_msgs::matrixFromRotationVector	(	const Eigen::Vector3d &	vec,
		Eigen::Matrix3d *	mat
	)

inline

Definition at line 184 of file common.h.

void mav_msgs::msgActuatorsFromEigen	(	const EigenActuators &	actuators,
		Actuators *	msg
	)

inline

Definition at line 394 of file conversions.h.

void mav_msgs::msgAttitudeThrustFromEigen	(	const EigenAttitudeThrust &	attitude_thrust,
		AttitudeThrust *	msg
	)

inline

Definition at line 414 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 494 of file conversions.h.

void mav_msgs::msgMultiDofJointTrajectoryFromEigen	(	const EigenTrajectoryPoint &	trajectory_point,
		trajectory_msgs::MultiDOFJointTrajectory *	msg
	)

inline

Definition at line 507 of file conversions.h.

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

inline

Definition at line 526 of file conversions.h.

void mav_msgs::msgMultiDofJointTrajectoryFromEigen	(	const EigenTrajectoryPointVector &	trajectory,
		trajectory_msgs::MultiDOFJointTrajectory *	msg
	)

inline

Definition at line 547 of file conversions.h.

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

inline

Definition at line 553 of file conversions.h.

void mav_msgs::msgMultiDofJointTrajectoryFromEigen	(	const EigenTrajectoryPointDeque &	trajectory,
		trajectory_msgs::MultiDOFJointTrajectory *	msg
	)

inline

Definition at line 574 of file conversions.h.

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

inline

Definition at line 514 of file conversions.h.

void mav_msgs::msgMultiDofJointTrajectoryPointFromEigen	(	const EigenTrajectoryPoint &	trajectory_point,
		trajectory_msgs::MultiDOFJointTrajectoryPoint *	msg
	)

inline

Definition at line 471 of file conversions.h.

void mav_msgs::msgOdometryFromEigen	(	const EigenOdometry &	odometry,
		nav_msgs::Odometry *	msg
	)

inline

Definition at line 445 of file conversions.h.

void mav_msgs::msgPoseStampedFromEigenTrajectoryPoint	(	const EigenTrajectoryPoint &	trajectory_point,
		geometry_msgs::PoseStamped *	msg
	)

inline

Definition at line 460 of file conversions.h.

void mav_msgs::msgRateThrustFromEigen	(	EigenRateThrust &	rate_thrust,
		RateThrust *	msg
	)

inline

Definition at line 421 of file conversions.h.

void mav_msgs::msgRollPitchYawrateThrustFromEigen	(	const EigenRollPitchYawrateThrust &	roll_pitch_yawrate_thrust,
		RollPitchYawrateThrust *	msg
	)

inline

Definition at line 435 of file conversions.h.

void mav_msgs::msgTorqueThrustFromEigen	(	EigenTorqueThrust &	torque_thrust,
		TorqueThrust *	msg
	)

inline

Definition at line 428 of file conversions.h.

double mav_msgs::nanosecondsToSeconds ( int64_t nanoseconds )

inline

Definition at line 349 of file common.h.

Eigen::Vector3d mav_msgs::omegaDotFromRotationVector	(	const Eigen::Vector3d &	rot_vec,
		const Eigen::Vector3d &	rot_vec_vel,
		const Eigen::Vector3d &	rot_vec_acc
	)

inline

Definition at line 269 of file common.h.

Eigen::Vector3d mav_msgs::omegaFromRotationVector	(	const Eigen::Vector3d &	rot_vec,
		const Eigen::Vector3d &	rot_vec_vel
	)

inline

Definition at line 242 of file common.h.

EigenTrajectoryPoint mav_msgs::operator*	(	const Eigen::Affine3d &	lhs,
		const EigenTrajectoryPoint &	rhs
	)

inline

Definition at line 267 of file eigen_mav_msgs.h.

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

inline

Definition at line 84 of file common.h.

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

inline

Definition at line 92 of file common.h.

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

inline

Definition at line 63 of file common.h.

Eigen::Quaterniond mav_msgs::quaternionFromYaw ( double yaw )

inline

Definition at line 112 of file common.h.

int64_t mav_msgs::secondsToNanoseconds ( double seconds )

inline

Definition at line 354 of file common.h.

void mav_msgs::setAngularVelocityMsgFromYawRate	(	double	yaw_rate,
		geometry_msgs::Vector3 *	msg
	)

inline

Definition at line 126 of file common.h.

void mav_msgs::setQuaternionMsgFromYaw	(	double	yaw,
		geometry_msgs::Quaternion *	msg
	)

inline

Definition at line 116 of file common.h.

void mav_msgs::skewMatrixFromVector	(	const Eigen::Vector3d &	vec,
		Eigen::Matrix3d *	vec_skew
	)

inline

Definition at line 147 of file common.h.

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

inline

Definition at line 55 of file common.h.

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

inline

Definition at line 59 of file common.h.

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

inline

Definition at line 76 of file common.h.

bool mav_msgs::vectorFromRotationMatrix	(	const Eigen::Matrix3d &	mat,
		Eigen::Vector3d *	vec
	)

inline

Definition at line 202 of file common.h.

bool mav_msgs::vectorFromSkewMatrix	(	const Eigen::Matrix3d &	vec_skew,
		Eigen::Vector3d *	vec
	)

inline

Definition at line 154 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 107 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::kNumNanosecondsPerSecond = 1.e9

Definition at line 35 of file common.h.

const double mav_msgs::kSmallValueCheck = 1.e-6

Definition at line 34 of file common.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

Enumerations

Functions

Variables

Enumeration Type Documentation

Function Documentation

Variable Documentation