MultirotorDynamics Class Reference

#include <multirotor.hpp>

Inheritance diagram for MultirotorDynamics:

Public Member Functions
void	getIMUMeasurement (Eigen::Vector3d &accOutput, Eigen::Vector3d &gyroOutput) override
bool	getMotorsRpm (std::vector< double > &motorsRpm) override
Eigen::Vector3d	getVehicleAirspeed () const override
Eigen::Vector3d	getVehicleAngularVelocity (void) const override
Eigen::Quaterniond	getVehicleAttitude () const override
Eigen::Vector3d	getVehiclePosition () const override
Eigen::Vector3d	getVehicleVelocity (void) const override
int8_t	init () override
	Use rosparam here to initialize sim. More...
	MultirotorDynamics ()=default
void	process (double dt_secs, const std::vector< double > &setpoint) override
void	setInitialPosition (const Eigen::Vector3d &position, const Eigen::Quaterniond &attitude) override
	~MultirotorDynamics ()=default
Public Member Functions inherited from UavDynamicsSimBase
virtual int8_t	calibrate (SimMode_t calibrationType)
virtual void	land ()
virtual void	setWindParameter (Eigen::Vector3d windMeanVelocityNED, double wind_velocityVariance)
	UavDynamicsSimBase ()=default
virtual	~UavDynamicsSimBase ()=default

Protected Member Functions
virtual void	initStaticMotorTransform (double momentArm)=0
	Set motor frames. More...
virtual std::vector< double >	mapCmdActuator (std::vector< double > cmd) const =0
	Convert actuator indexes from PX4 notation to internal Flightgoggles notation. More...

Protected Attributes
std::unique_ptr< MulticopterDynamicsSim >	multicopterSim_
uint8_t	number_of_motors

Additional Inherited Members
Public Types inherited from UavDynamicsSimBase
enum	SimMode_t {   SimMode_t::NORMAL = 0, SimMode_t::MAG_1_NORMAL = 1, SimMode_t::MAG_2_OVERTURNED = 2, SimMode_t::MAG_3_HEAD_DOWN = 3,   SimMode_t::MAG_4_HEAD_UP = 4, SimMode_t::MAG_5_TURNED_LEFT = 5, SimMode_t::MAG_6_TURNED_RIGHT = 6, SimMode_t::MAG_7_ARDUPILOT = 7,   SimMode_t::MAG_8_ARDUPILOT = 8, SimMode_t::MAG_9_ARDUPILOT = 9, SimMode_t::ACC_1_NORMAL = 11, SimMode_t::ACC_2_OVERTURNED = 12,   SimMode_t::ACC_3_HEAD_DOWN = 13, SimMode_t::ACC_4_HEAD_UP = 14, SimMode_t::ACC_5_TURNED_LEFT = 15, SimMode_t::ACC_6_TURNED_RIGHT = 16,   SimMode_t::AIRSPEED = 21 }

Detailed Description

Definition at line 25 of file multirotor.hpp.

Constructor & Destructor Documentation

MultirotorDynamics()

MultirotorDynamics::MultirotorDynamics ( )

default

~MultirotorDynamics()

MultirotorDynamics::~MultirotorDynamics ( )

default

Member Function Documentation

getIMUMeasurement()

void MultirotorDynamics::getIMUMeasurement ( Eigen::Vector3d &  accOutput, Eigen::Vector3d &  gyroOutput  )

overridevirtual

Implements UavDynamicsSimBase.

Definition at line 140 of file multirotor.cpp.

getMotorsRpm()

bool MultirotorDynamics::getMotorsRpm ( std::vector< double > &  motorsRpm )

overridevirtual

Reimplemented from UavDynamicsSimBase.

Definition at line 145 of file multirotor.cpp.

getVehicleAirspeed()

Eigen::Vector3d MultirotorDynamics::getVehicleAirspeed ( ) const

overridevirtual

Implements UavDynamicsSimBase.

Definition at line 134 of file multirotor.cpp.

getVehicleAngularVelocity()

Eigen::Vector3d MultirotorDynamics::getVehicleAngularVelocity ( void  ) const

overridevirtual

Implements UavDynamicsSimBase.

Definition at line 137 of file multirotor.cpp.

getVehicleAttitude()

Eigen::Quaterniond MultirotorDynamics::getVehicleAttitude ( ) const

overridevirtual

Implements UavDynamicsSimBase.

Definition at line 128 of file multirotor.cpp.

getVehiclePosition()

Eigen::Vector3d MultirotorDynamics::getVehiclePosition ( ) const

overridevirtual

Implements UavDynamicsSimBase.

Definition at line 125 of file multirotor.cpp.

getVehicleVelocity()

Eigen::Vector3d MultirotorDynamics::getVehicleVelocity ( void  ) const

overridevirtual

Implements UavDynamicsSimBase.

Definition at line 131 of file multirotor.cpp.

init()

int8_t MultirotorDynamics::init ( )

overridevirtual

Use rosparam here to initialize sim.

Returns

-1 if error occures and simulation can't start

Implements UavDynamicsSimBase.

Definition at line 42 of file multirotor.cpp.

initStaticMotorTransform()

virtual void MultirotorDynamics::initStaticMotorTransform ( double  momentArm )

protectedpure virtual

Set motor frames.

Implemented in OctocopterDynamics, and QuadcopterDynamics.

mapCmdActuator()

virtual std::vector<double> MultirotorDynamics::mapCmdActuator ( std::vector< double >  cmd ) const

protectedpure virtual

Convert actuator indexes from PX4 notation to internal Flightgoggles notation.

Implemented in OctocopterDynamics, and QuadcopterDynamics.

process()

void MultirotorDynamics::process ( double  dt_secs, const std::vector< double > &  setpoint  )

overridevirtual

Implements UavDynamicsSimBase.

Definition at line 120 of file multirotor.cpp.

setInitialPosition()

void MultirotorDynamics::setInitialPosition ( const Eigen::Vector3d &  position, const Eigen::Quaterniond &  attitude  )

overridevirtual

Implements UavDynamicsSimBase.

Definition at line 115 of file multirotor.cpp.

Member Data Documentation

multicopterSim_

std::unique_ptr<MulticopterDynamicsSim> MultirotorDynamics::multicopterSim_

protected

Definition at line 55 of file multirotor.hpp.

number_of_motors

uint8_t MultirotorDynamics::number_of_motors

protected

Definition at line 56 of file multirotor.hpp.

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The documentation for this class was generated from the following files:

• multirotor.hpp
• multirotor.cpp