quadrotor_aerodynamics.h

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//=================================================================================================
// Copyright (c) 2012-2016, Institute of Flight Systems and Automatic Control,
// Technische Universität Darmstadt.
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#ifndef HECTOR_QUADROTOR_MODEL_QUADROTOR_AERODYNAMICS_H
#define HECTOR_QUADROTOR_MODEL_QUADROTOR_AERODYNAMICS_H

#include <geometry_msgs/Quaternion.h>
#include <geometry_msgs/Twist.h>
#include <geometry_msgs/Vector3.h>
#include <geometry_msgs/Wrench.h>

#include <ros/node_handle.h>

#include <boost/thread/mutex.hpp>

namespace hector_quadrotor_model
{

class QuadrotorAerodynamics {
public:
  QuadrotorAerodynamics();
  ~QuadrotorAerodynamics();

  bool configure(const ros::NodeHandle &param = ros::NodeHandle("~"));
  void reset();
  void update(double dt);

  void setOrientation(const geometry_msgs::Quaternion& orientation);
  void setTwist(const geometry_msgs::Twist& twist);
  void setBodyTwist(const geometry_msgs::Twist& twist);
  void setWind(const geometry_msgs::Vector3& wind);

  const geometry_msgs::Wrench& getWrench() const { return wrench_; }

  void f(const double uin[6], double dt, double y[6]) const;

private:
  geometry_msgs::Quaternion orientation_;
  geometry_msgs::Twist twist_;
  geometry_msgs::Vector3 wind_;

  geometry_msgs::Wrench wrench_;

  boost::mutex mutex_;

  class DragModel;
  DragModel *drag_model_;
};

}

#endif // HECTOR_QUADROTOR_MODEL_QUADROTOR_AERODYNAMICS_H