Gazebo Gazebo

API Reference

6.16.0
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 GZ_GAZEBO_SYSTEMS_MULTICOPTERVELOCITYCONTROL_HH_
18 #define GZ_GAZEBO_SYSTEMS_MULTICOPTERVELOCITYCONTROL_HH_
19 
20 #include <Eigen/Geometry>
21 #include <memory>
22 #include <string>
23 
24 #include <gz/transport/Node.hh>
25 
26 #include <gz/sim/System.hh>
27 #include "gz/sim/Link.hh"
28 #include "gz/sim/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 gz::sim::UpdateInfo &_info,
166  gz::sim::EntityComponentManager &_ecm) override;
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 
191  private: math::Inertiald VehicleInertial(
193  Entity _entity);
194 
196  private: Model model{kNullEntity};
197 
199  private: std::string comLinkName;
200 
202  private: Entity comLinkEntity;
203 
205  private: std::string robotNamespace;
206 
208  private: std::string commandSubTopic{"cmd_vel"};
209 
211  private: std::string enableSubTopic{"enable"};
212 
214  private: transport::Node node;
215 
218  private: Eigen::VectorXd rotorVelocities;
219 
222  velocityController;
223 
225  private: multicopter_control::NoiseParameters noiseParameters;
226 
230  private: std::optional<msgs::Twist> cmdVelMsg;
231 
233  private: math::Vector3d maximumLinearVelocity;
234 
236  private: math::Vector3d maximumAngularVelocity;
237 
239  private: std::mutex cmdVelMsgMutex;
240 
243  private: msgs::Actuators rotorVelocitiesMsg;
244 
246  private: bool initialized{false};
247 
249  private: std::atomic<bool> controllerActive{true};
250  };
251  }
252 }
253 }
254 }
255 
256 #endif
uint64_t Entity
An Entity identifies a single object in simulation such as a model, link, or light....
Definition: gz/sim/Entity.hh:58
This library is part of the Gazebo project.
STL class.
The EntityComponentManager constructs, deletes, and returns components and entities....
Definition: gz/sim/EntityComponentManager.hh:66
STL class.
Noise parameters used when computing frame data. These are all assumed to be gaussian.
Definition: Parameters.hh:84
This class provides wrappers around entities and components which are more convenient and straight-fo...
Definition: gz/sim/Model.hh:60
void PreUpdate(const gz::sim::UpdateInfo &_info, gz::sim::EntityComponentManager &_ecm) override
This is a velocity controller for multicopters that allows control over the linear velocity and the y...
Definition: MulticopterVelocityControl.hh:149
The EventManager is used to send/receive notifications of simulator events.
Definition: gz/sim/EventManager.hh:54
Information passed to systems on the update callback.
Definition: include/gz/sim/Types.hh:38
const Entity kNullEntity
Indicates a non-existant or invalid Entity.
Definition: gz/sim/Entity.hh:61
Interface for a system that uses the PreUpdate phase.
Definition: gz/sim/System.hh:121
Interface for a system that implements optional configuration.
Definition: gz/sim/System.hh:90
void Configure(const Entity &_entity, const std::shared_ptr< const sdf::Element > &_sdf, EntityComponentManager &_ecm, EventManager &_eventMgr) override
Configure the system.
Base class for a System.
Definition: gz/sim/System.hh:75
STL class.
STL class.