Uav_Dynamics Class Reference

UAV Dynamics class used for dynamics, IMU, and angular rate control simulation node. More...

#include <main.hpp>

Public Member Functions
int8_t	init ()
	Uav_Dynamics (ros::NodeHandle nh)

Private Member Functions
void	calibrationCallback (std_msgs::UInt8 msg)
int8_t	getParamsFromRos ()
int8_t	initCalibration ()
int8_t	initDynamicsSimulator ()
int8_t	initSensors ()
void	performLogging (double period)
void	proceedDynamics (double period)
void	publishToRos (double period)
void	simulationLoopTimerCallback (const ros::WallTimerEvent &event)
	Main Simulator loop. More...
int8_t	startClockAndThreads ()

Private Attributes
Actuators	_actuators
StateLogger	_logger
ros::NodeHandle	_node
RvizVisualizator	_rviz_visualizator
ScenarioManager	_scenarioManager
Sensors	_sensors
std::vector< double >	_wind_ned {3}
ros::Subscriber	calibrationSub_
UavDynamicsSimBase::SimMode_t	calibrationType_ {UavDynamicsSimBase::SimMode_t::NORMAL}
ros::Publisher	clockPub_
double	clockScale_ = 1.0
ros::Time	currentTime_
std::thread	diagnosticTask
double	dt_secs_ = 1.0f/960.
uint64_t	dynamicsCounter_
DynamicsInfo	info
std::vector< double >	initPose_ {7}
std::thread	proceedDynamicsTask
std::thread	publishToRosTask
const float	ROS_PUB_PERIOD_SEC = 0.05f
uint64_t	rosPubCounter_
ros::WallTimer	simulationLoopTimer_
std::shared_ptr< UavDynamicsSimBase >	uavDynamicsSim_
bool	useSimTime_

Detailed Description

UAV Dynamics class used for dynamics, IMU, and angular rate control simulation node.

Definition at line 43 of file main.hpp.

Constructor & Destructor Documentation

Uav_Dynamics()

Uav_Dynamics::Uav_Dynamics ( ros::NodeHandle  nh )

explicit

Definition at line 50 of file main.cpp.

Member Function Documentation

calibrationCallback()

void Uav_Dynamics::calibrationCallback ( std_msgs::UInt8  msg )

private

Definition at line 278 of file main.cpp.

getParamsFromRos()

int8_t Uav_Dynamics::getParamsFromRos ( )

private

Definition at line 80 of file main.cpp.

init()

int8_t Uav_Dynamics::init

(

)

Returns

-1 if error occured, else 0

Definition at line 62 of file main.cpp.

initCalibration()

int8_t Uav_Dynamics::initCalibration ( )

private

Definition at line 143 of file main.cpp.

initDynamicsSimulator()

int8_t Uav_Dynamics::initDynamicsSimulator ( )

private

Definition at line 93 of file main.cpp.

initSensors()

int8_t Uav_Dynamics::initSensors ( )

private

Definition at line 136 of file main.cpp.

performLogging()

void Uav_Dynamics::performLogging ( double  period )

private

Definition at line 195 of file main.cpp.

proceedDynamics()

void Uav_Dynamics::proceedDynamics ( double  period )

private

< prevent big time jumping

Definition at line 224 of file main.cpp.

publishToRos()

void Uav_Dynamics::publishToRos ( double  period )

private

Definition at line 257 of file main.cpp.

simulationLoopTimerCallback()

void Uav_Dynamics::simulationLoopTimerCallback ( const ros::WallTimerEvent &  event )

private

Main Simulator loop.

Parameters

event

Wall clock timer event

Definition at line 182 of file main.cpp.

startClockAndThreads()

int8_t Uav_Dynamics::startClockAndThreads ( )

private

Definition at line 148 of file main.cpp.

Member Data Documentation

_actuators

Actuators Uav_Dynamics::_actuators

private

Definition at line 70 of file main.hpp.

_logger

StateLogger Uav_Dynamics::_logger

private

Definition at line 74 of file main.hpp.

_node

ros::NodeHandle Uav_Dynamics::_node

private

Definition at line 56 of file main.hpp.

_rviz_visualizator

RvizVisualizator Uav_Dynamics::_rviz_visualizator

private

Definition at line 72 of file main.hpp.

_scenarioManager

ScenarioManager Uav_Dynamics::_scenarioManager

private

Definition at line 73 of file main.hpp.

_sensors

Sensors Uav_Dynamics::_sensors

private

Definition at line 71 of file main.hpp.

_wind_ned

std::vector<double> Uav_Dynamics::_wind_ned {3}

private

Definition at line 66 of file main.hpp.

calibrationSub_

ros::Subscriber Uav_Dynamics::calibrationSub_

private

Definition at line 77 of file main.hpp.

calibrationType_

UavDynamicsSimBase::SimMode_t Uav_Dynamics::calibrationType_ {UavDynamicsSimBase::SimMode_t::NORMAL}

private

Definition at line 78 of file main.hpp.

clockPub_

ros::Publisher Uav_Dynamics::clockPub_

private

Definition at line 58 of file main.hpp.

clockScale_

double Uav_Dynamics::clockScale_ = 1.0

private

Definition at line 62 of file main.hpp.

currentTime_

ros::Time Uav_Dynamics::currentTime_

private

Definition at line 60 of file main.hpp.

diagnosticTask

std::thread Uav_Dynamics::diagnosticTask

private

Definition at line 89 of file main.hpp.

dt_secs_

double Uav_Dynamics::dt_secs_ = 1.0f/960.

private

Definition at line 61 of file main.hpp.

dynamicsCounter_

uint64_t Uav_Dynamics::dynamicsCounter_

private

Definition at line 82 of file main.hpp.

info

DynamicsInfo Uav_Dynamics::info

private

Definition at line 68 of file main.hpp.

initPose_

std::vector<double> Uav_Dynamics::initPose_ {7}

private

Definition at line 65 of file main.hpp.

proceedDynamicsTask

std::thread Uav_Dynamics::proceedDynamicsTask

private

Definition at line 87 of file main.hpp.

publishToRosTask

std::thread Uav_Dynamics::publishToRosTask

private

Definition at line 88 of file main.hpp.

ROS_PUB_PERIOD_SEC

const float Uav_Dynamics::ROS_PUB_PERIOD_SEC = 0.05f

private

Definition at line 96 of file main.hpp.

rosPubCounter_

uint64_t Uav_Dynamics::rosPubCounter_

private

Definition at line 83 of file main.hpp.

simulationLoopTimer_

ros::WallTimer Uav_Dynamics::simulationLoopTimer_

private

Definition at line 86 of file main.hpp.

uavDynamicsSim_

std::shared_ptr<UavDynamicsSimBase> Uav_Dynamics::uavDynamicsSim_

private

Definition at line 57 of file main.hpp.

useSimTime_

bool Uav_Dynamics::useSimTime_

private

Definition at line 63 of file main.hpp.

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

• main.hpp
• main.cpp