multirotor.hpp

Go to the documentation of this file.

/*
 * Copyright (c) 2020-2023 RaccoonLab.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, version 3.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
 * General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * Author: Dmitry Ponomarev <ponomarevda96@gmail.com>
 */
 
#ifndef SRC_DYNAMICS_MULTIROTOR_MULTIROTOR_HPP
#define SRC_DYNAMICS_MULTIROTOR_MULTIROTOR_HPP
 
#include "uavDynamicsSimBase.hpp"
#include "../libs/multicopterDynamicsSim/multicopterDynamicsSim.hpp"
 
class MultirotorDynamics: public UavDynamicsSimBase{
public:
    MultirotorDynamics() = default;
    ~MultirotorDynamics() = default;
 
    int8_t init() override;
    void setInitialPosition(const Eigen::Vector3d & position,
                            const Eigen::Quaterniond& attitude) override;
 
    void process(double dt_secs, const std::vector<double> & setpoint) override;
 
    Eigen::Vector3d getVehiclePosition() const override;
    Eigen::Quaterniond getVehicleAttitude() const override;
    Eigen::Vector3d getVehicleVelocity(void) const override;
    Eigen::Vector3d getVehicleAirspeed() const override;
    Eigen::Vector3d getVehicleAngularVelocity(void) const override;
    void getIMUMeasurement(Eigen::Vector3d & accOutput, Eigen::Vector3d & gyroOutput) override;
    bool getMotorsRpm(std::vector<double>& motorsRpm) override;
 
protected:
    virtual void initStaticMotorTransform(double momentArm) = 0;
 
    virtual std::vector<double> mapCmdActuator(std::vector<double> cmd) const = 0;
 
    std::unique_ptr<MulticopterDynamicsSim> multicopterSim_;
    uint8_t number_of_motors;
};
 
#endif  // SRC_DYNAMICS_MULTIROTOR_MULTIROTOR_HPP