Gazebo Gazebo

API Reference

3.15.1
MulticopterVelocityControl.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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8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
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15  *
16  */
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 
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
uint64_t Entity
An Entity identifies a single object in simulation such as a model, link, or light....
Definition: gz/sim/Entity.hh:59
This library is part of the Ignition Robotics project.
STL class.
The EntityComponentManager constructs, deletes, and returns components and entities....
Definition: gz/sim/EntityComponentManager.hh:65
STL class.
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:50
Information passed to systems on the update callback.
Definition: include/gz/sim/Types.hh:37
const Entity kNullEntity
Indicates a non-existant or invalid Entity.
Definition: gz/sim/Entity.hh:62
Interface for a system that uses the PreUpdate phase.
Definition: gz/sim/System.hh:105
Interface for a system that implements optional configuration.
Definition: gz/sim/System.hh:88
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:73
STL class.