Template Struct IndiControllerParams

• Defined in File IndiController.hpp

Struct Documentation

template<typename P = double, int num_rotors = 4>
struct IndiControllerParams

INDI controller parameters.

Template Parameters:

P – Precision type of the controller

Public Types

using Matrix3 = Eigen::Matrix<P, 3, 3>

using MatrixN = Eigen::Matrix<P, num_rotors, 4>

using PIDParams = pid_controller::PIDParams<P>

using Matrix3 = Eigen::Matrix<P, 3, 3>

using MatrixN = Eigen::Matrix<P, num_rotors, 4>

using PIDParams = pid_controller::PIDParams<P>

Public Members

Matrix3 inertia = Matrix3::Zero()

MatrixN mixer_matrix_inverse = MatrixN::Zero()

PIDParams pid_params = PIDParams()