Gazebo Gazebo

API Reference

3.15.1
LeeVelocityController.hh
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1 /*
2  * Copyright (C) 2019 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
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13  * See the License for the specific language governing permissions and
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16  */
17 
18 #ifndef GZ_GAZEBO_SYSTEMS_MULTICOPTER_CONTROL_LEEVELOCITYCONTROLLER_HH_
19 #define GZ_GAZEBO_SYSTEMS_MULTICOPTER_CONTROL_LEEVELOCITYCONTROLLER_HH_
20 
21 #include <Eigen/Geometry>
22 #include <memory>
23 #include "gz/sim/config.hh"
24 
25 #include "Common.hh"
26 #include "LeeVelocityController.hh"
27 
28 namespace ignition
29 {
30 namespace gazebo
31 {
32 // Inline bracket to help doxygen filtering.
33 inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
34 namespace systems
35 {
36 namespace multicopter_control
37 {
41  {
42  Eigen::Vector3d velocityGain;
43  Eigen::Vector3d attitudeGain;
44  Eigen::Vector3d angularRateGain;
45  Eigen::Vector3d maxLinearAcceleration;
46  };
47 
53  {
59  public: static std::unique_ptr<LeeVelocityController> MakeController(
60  const LeeVelocityControllerParameters &_controllerParams,
61  const VehicleParameters &_vehicleParams);
62 
69  public: void CalculateRotorVelocities(
70  const FrameData &_frameData,
71  const EigenTwist &_cmdVel,
72  Eigen::VectorXd &_rotorVelocities) const;
73 
76  private: LeeVelocityController() = default;
77 
80  private: Eigen::Vector3d ComputeDesiredAcceleration(
81  const FrameData &_frameData, const EigenTwist &_cmdVel) const;
82 
85  private: Eigen::Vector3d ComputeDesiredAngularAcc(
86  const FrameData &_frameData, const EigenTwist &_cmdVel,
87  const Eigen::Vector3d &_acceleration) const;
88 
91  private: bool InitializeParameters();
92 
94  private: LeeVelocityControllerParameters controllerParameters;
95 
97  private: VehicleParameters vehicleParameters;
98 
100  private: Eigen::Vector3d normalizedAttitudeGain;
101 
103  private: Eigen::Vector3d normalizedAngularRateGain;
104 
107  private: Eigen::MatrixX4d angularAccToRotorVelocities;
108  };
109 } // namespace multicopter_control
110 } // namespace systems
111 } // namespace IGNITION_GAZEBO_VERSION_NAMESPACE
112 } // namespace gazebo
113 } // namespace ignition
114 
115 #endif
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
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.