Common.hh File Reference
#include <Eigen/Geometry>
#include <optional>
#include <vector>
#include <sdf/sdf.hh>
#include "gz/sim/config.hh"
#include "gz/sim/EntityComponentManager.hh"
#include "gz/sim/Model.hh"
#include "Parameters.hh"
Go to the source code of this file.
Classes | |
struct | EigenTwist |
Struct containing linear and angular velocities. More... | |
struct | FrameData |
Frame data of a link including its pose and linear velocity in world frame as well as its angular velocity in body frame. More... | |
Namespaces | |
ignition | |
This library is part of the Gazebo project. | |
ignition::gazebo | |
Gazebo is a leading open source robotics simulator, that provides high fidelity physics, rendering, and sensor simulation. | |
ignition::gazebo::systems | |
Namespace for all System plugins. Refer to the System class for more information about systems. | |
ignition::gazebo::systems::multicopter_control | |
Functions | |
std::optional< Eigen::Matrix4Xd > | calculateAllocationMatrix (const RotorConfiguration &_rotorConfiguration) |
Create the matrix that maps rotor velocities to thrust and moments. More... | |
void | createFrameDataComponents (EntityComponentManager &_ecm, const Entity &_link) |
Creates components necessary for obtaining the frame data of the given link. More... | |
std::optional< FrameData > | getFrameData (const EntityComponentManager &_ecm, const Entity &_link, const NoiseParameters &_noise) |
Retrieves the frame data of the given link and applies noise. More... | |
RotorConfiguration | loadRotorConfiguration (const EntityComponentManager &_ecm, const sdf::ElementPtr &_sdf, const Model &_model, const Entity &_comLink) |
Loads rotor configuration from SDF. More... | |
Eigen::Matrix3d | skewMatrixFromVector (const Eigen::Vector3d &_vector) |
Creates a skew symmetric matrix (so(3)) from a vector. This is sometimes referred to as the hat map. More... | |
Eigen::Vector3d | vectorFromSkewMatrix (const Eigen::Matrix3d &_skewMatrix) |
Creates a vector from a skew symmetric matrix(so3). This is sometimes referred to as the vee map or inverse hat map. More... | |