Ignition Gazebo

API Reference

6.0.0~pre1
MulticopterVelocityControl.hh
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2  * Copyright (C) 2019 Open Source Robotics Foundation
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 #ifndef IGNITION_GAZEBO_SYSTEMS_MULTICOPTERVELOCITYCONTROL_HH_
18 #define IGNITION_GAZEBO_SYSTEMS_MULTICOPTERVELOCITYCONTROL_HH_
19 
20 #include <Eigen/Geometry>
21 #include <memory>
22 #include <string>
23 
25 
27 #include "ignition/gazebo/Link.hh"
28 #include "ignition/gazebo/Model.hh"
29 
30 #include "Common.hh"
31 #include "LeeVelocityController.hh"
32 
33 namespace ignition
34 {
35 namespace gazebo
36 {
37 // Inline bracket to help doxygen filtering.
38 inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
39 namespace systems
40 {
109 
150  : public System,
151  public ISystemConfigure,
152  public ISystemPreUpdate
153  {
155  public: MulticopterVelocityControl() = default;
156 
157  // Documentation inherited
158  public: void Configure(const Entity &_entity,
161  EventManager &_eventMgr) override;
162 
163  // Documentation inherited
164  public: void PreUpdate(
165  const ignition::gazebo::UpdateInfo &_info,
167 
172  private: void OnTwist(const msgs::Twist &_msg);
173 
179  private: void OnEnable(const msgs::Boolean &_msg);
180 
184  private: void PublishRotorVelocities(
186  const Eigen::VectorXd &_vels);
187 
189  private: Model model{kNullEntity};
190 
192  private: std::string comLinkName;
193 
195  private: Entity comLinkEntity;
196 
198  private: std::string robotNamespace;
199 
201  private: std::string commandSubTopic{"cmd_vel"};
202 
204  private: std::string enableSubTopic{"enable"};
205 
207  private: transport::Node node;
208 
211  private: Eigen::VectorXd rotorVelocities;
212 
215  velocityController;
216 
218  private: multicopter_control::NoiseParameters noiseParameters;
219 
223  private: std::optional<msgs::Twist> cmdVelMsg;
224 
226  private: math::Vector3d maximumLinearVelocity;
227 
229  private: math::Vector3d maximumAngularVelocity;
230 
232  private: std::mutex cmdVelMsgMutex;
233 
236  private: msgs::Actuators rotorVelocitiesMsg;
237 
239  private: bool initialized{false};
240 
242  private: std::atomic<bool> controllerActive{true};
243  };
244  }
245 }
246 }
247 }
248 
249 #endif
This class provides wrappers around entities and components which are more convenient and straight-fo...
Definition: Model.hh:60
Information passed to systems on the update callback.
Definition: Types.hh:38
STL class.
This is a velocity controller for multicopters that allows control over the linear velocity and the y...
Definition: MulticopterVelocityControl.hh:149
The EntityComponentManager constructs, deletes, and returns components and entities. A component can be of any class which inherits from components::BaseComponent.
Definition: EntityComponentManager.hh:66
The EventManager is used to send/receive notifications of simulator events.
Definition: EventManager.hh:54
Interface for a system that implements optional configuration.
Definition: System.hh:88
const Entity kNullEntity
Indicates a non-existant or invalid Entity.
Definition: Entity.hh:62
STL class.
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.
uint64_t Entity
An Entity identifies a single object in simulation such as a model, link, or light. At its core, an Entity is just an identifier.
Definition: Entity.hh:59
Interface for a system that uses the PreUpdate phase.
Definition: System.hh:105
Base class for a System.
Definition: System.hh:73