LeeVelocityController.hh
This library is part of the Ignition Robotics project.
void CalculateRotorVelocities(const FrameData &_frameData, const EigenTwist &_cmdVel, Eigen::VectorXd &_rotorVelocities) const
Calculate rotor velocities given the current frame data and the commanded velocity.
Struct containing linear and angular velocities.
Definition: Common.hh:44
Eigen::Vector3d velocityGain
Definition: LeeVelocityController.hh:42
Eigen::Vector3d angularRateGain
Definition: LeeVelocityController.hh:44
Frame data of a link including its pose and linear velocity in world frame as well as its angular vel...
Definition: Common.hh:52
static std::unique_ptr< LeeVelocityController > MakeController(const LeeVelocityControllerParameters &_controllerParams, const VehicleParameters &_vehicleParams)
Factory function to create LeeVelocityController objects.
A struct that holds properties of the vehicle such as mass, inertia and rotor configuration....
Definition: Parameters.hh:68
Definition: LeeVelocityController.hh:52
Eigen::Vector3d maxLinearAcceleration
Definition: LeeVelocityController.hh:45
Eigen::Vector3d attitudeGain
Definition: LeeVelocityController.hh:43
Data structure containing various parameters for the Lee velocity controller.
Definition: LeeVelocityController.hh:40
STL class.