quadrotor_aerodynamics.h
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00001 //=================================================================================================
00002 // Copyright (c) 2012, Johannes Meyer, TU Darmstadt
00003 // All rights reserved.
00004 
00005 // Redistribution and use in source and binary forms, with or without
00006 // modification, are permitted provided that the following conditions are met:
00007 //     * Redistributions of source code must retain the above copyright
00008 //       notice, this list of conditions and the following disclaimer.
00009 //     * Redistributions in binary form must reproduce the above copyright
00010 //       notice, this list of conditions and the following disclaimer in the
00011 //       documentation and/or other materials provided with the distribution.
00012 //     * Neither the name of the Flight Systems and Automatic Control group,
00013 //       TU Darmstadt, nor the names of its contributors may be used to
00014 //       endorse or promote products derived from this software without
00015 //       specific prior written permission.
00016 
00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00018 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00019 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00020 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00027 //=================================================================================================
00028 
00029 #ifndef HECTOR_QUADROTOR_MODEL_QUADROTOR_AERODYNAMICS_H
00030 #define HECTOR_QUADROTOR_MODEL_QUADROTOR_AERODYNAMICS_H
00031 
00032 #include <geometry_msgs/Quaternion.h>
00033 #include <geometry_msgs/Twist.h>
00034 #include <geometry_msgs/Vector3.h>
00035 #include <geometry_msgs/Wrench.h>
00036 
00037 #include <ros/node_handle.h>
00038 
00039 #include <boost/thread/mutex.hpp>
00040 
00041 namespace hector_quadrotor_model
00042 {
00043 
00044 class QuadrotorAerodynamics {
00045 public:
00046   QuadrotorAerodynamics();
00047   ~QuadrotorAerodynamics();
00048 
00049   bool configure(const ros::NodeHandle &param = ros::NodeHandle("~"));
00050   void reset();
00051   void update(double dt);
00052 
00053   void setOrientation(const geometry_msgs::Quaternion& orientation);
00054   void setTwist(const geometry_msgs::Twist& twist);
00055   void setBodyTwist(const geometry_msgs::Twist& twist);
00056   void setWind(const geometry_msgs::Vector3& wind);
00057 
00058   const geometry_msgs::Wrench& getWrench() const { return wrench_; }
00059 
00060   void f(const double uin[6], double dt, double y[6]) const;
00061 
00062 private:
00063   geometry_msgs::Quaternion orientation_;
00064   geometry_msgs::Twist twist_;
00065   geometry_msgs::Vector3 wind_;
00066 
00067   geometry_msgs::Wrench wrench_;
00068 
00069   boost::mutex mutex_;
00070 
00071   class DragModel;
00072   DragModel *drag_model_;
00073 };
00074 
00075 }
00076 
00077 #endif // HECTOR_QUADROTOR_MODEL_QUADROTOR_AERODYNAMICS_H


hector_quadrotor_model
Author(s): Johannes Meyer , Alexander Sendobry
autogenerated on Sun Jul 10 2016 04:50:01