Gazebo Gazebo

API Reference

3.15.1
Parameters.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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17 
18 #ifndef GZ_GAZEBO_SYSTEMS_MULTICOPTERVELOCITYCONTROL_PARAMETERS_HH_
19 #define GZ_GAZEBO_SYSTEMS_MULTICOPTERVELOCITYCONTROL_PARAMETERS_HH_
20 
21 #include <Eigen/Geometry>
22 #include <vector>
23 
24 #include "gz/sim/config.hh"
25 
26 namespace ignition
27 {
28 namespace gazebo
29 {
30 // Inline bracket to help doxygen filtering.
31 inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
32 namespace systems
33 {
34 namespace multicopter_control
35 {
37  struct Rotor
38  {
42  // cppcheck-suppress unusedStructMember
43  double angle;
46  // cppcheck-suppress unusedStructMember
47  double armLength;
50  // cppcheck-suppress unusedStructMember
51  double forceConstant;
54  // cppcheck-suppress unusedStructMember
58  // cppcheck-suppress unusedStructMember
59  int direction;
60  };
61 
64 
69  {
71  // cppcheck-suppress unusedStructMember
72  double mass;
74  Eigen::Matrix3d inertia;
76  Eigen::Vector3d gravity;
80  };
81 
85  {
86  Eigen::Vector3d linearVelocityMean;
87  Eigen::Vector3d linearVelocityStdDev;
88  Eigen::Vector3d angularVelocityMean;
89  Eigen::Vector3d angularVelocityStdDev;
90  };
91 
92 } // namespace multicopter_control
93 } // namespace systems
94 } // namespace IGNITION_GAZEBO_VERSION_NAMESPACE
95 } // namespace gazebo
96 } // namespace ignition
97 
98 #endif
double mass
Total mass of the vehicle.
Definition: Parameters.hh:72
This library is part of the Ignition Robotics project.
Eigen::Vector3d linearVelocityStdDev
Definition: Parameters.hh:87
Noise parameters used when computing frame data. These are all assumed to be gaussian.
Definition: Parameters.hh:84
double angle
The angle formed on the xy plane by the vector going from the the center of mass to the rotor....
Definition: Parameters.hh:43
Eigen::Vector3d angularVelocityMean
Definition: Parameters.hh:88
A struct that holds various properties of a rotor.
Definition: Parameters.hh:37
double momentConstant
A constant the multiplies with the rotor's thrust to compute its moment.
Definition: Parameters.hh:55
Eigen::Vector3d gravity
Gravity vector.
Definition: Parameters.hh:76
A struct that holds properties of the vehicle such as mass, inertia and rotor configuration....
Definition: Parameters.hh:68
double armLength
The length of the vector going from the center of mass to the rotor.
Definition: Parameters.hh:47
Eigen::Vector3d linearVelocityMean
Definition: Parameters.hh:86
RotorConfiguration rotorConfiguration
A collection of Rotor objects that specifiy various properties of the rotors in the vehicle.
Definition: Parameters.hh:79
int direction
Direction of rotation of the rotor. +1 is counterclockwise and -1 is clockwise.
Definition: Parameters.hh:59
double forceConstant
A constant that multiplies with the square of the rotor's velocity to compute its thrust.
Definition: Parameters.hh:51
Eigen::Vector3d angularVelocityStdDev
Definition: Parameters.hh:89
Eigen::Matrix3d inertia
Moment of inertia matrix of the vehicle.
Definition: Parameters.hh:74