Parameters.hh
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Eigen::Vector3d linearVelocityStdDev
Definition: Parameters.hh:87
double forceConstant
A constant that multiplies with the square of the rotor's velocity to compute its thrust...
Definition: Parameters.hh:51
double mass
Total mass of the vehicle.
Definition: Parameters.hh:72
Eigen::Vector3d gravity
Gravity vector.
Definition: Parameters.hh:76
Eigen::Matrix3d inertia
Moment of inertia matrix of the vehicle.
Definition: Parameters.hh:74
RotorConfiguration rotorConfiguration
A collection of Rotor objects that specifiy various properties of the rotors in the vehicle...
Definition: Parameters.hh:79
int direction
Direction of rotation of the rotor. +1 is counterclockwise and -1 is clockwise.
Definition: Parameters.hh:59
double armLength
The length of the vector going from the center of mass to the rotor.
Definition: Parameters.hh:47
A struct that holds properties of the vehicle such as mass, inertia and rotor configuration. Gravity is also included even though it's not a parameter unique to the vehicle.
Definition: Parameters.hh:68
double momentConstant
A constant the multiplies with the rotor's thrust to compute its moment.
Definition: Parameters.hh:55
double angle
The angle formed on the xy plane by the vector going from the the center of mass to the rotor...
Definition: Parameters.hh:43
Noise parameters used when computing frame data. These are all assumed to be gaussian.
Definition: Parameters.hh:84
This library is part of the Ignition Robotics project.
A struct that holds various properties of a rotor.
Definition: Parameters.hh:37
Eigen::Vector3d linearVelocityMean
Definition: Parameters.hh:86
Eigen::Vector3d angularVelocityMean
Definition: Parameters.hh:88
Eigen::Vector3d angularVelocityStdDev
Definition: Parameters.hh:89