LeeVelocityController Class Reference
#include <LeeVelocityController.hh>
Public Member Functions | |
void | CalculateRotorVelocities (const FrameData &_frameData, const EigenTwist &_cmdVel, Eigen::VectorXd &_rotorVelocities) const |
Calculate rotor velocities given the current frame data and the commanded velocity. More... | |
Static Public Member Functions | |
static std::unique_ptr< LeeVelocityController > | MakeController (const LeeVelocityControllerParameters &_controllerParams, const VehicleParameters &_vehicleParams) |
Factory function to create LeeVelocityController objects. More... | |
Detailed Description
This controller is inspired by the LeePositionController from RotorS https://github.com/ethz-asl/rotors_simulator/blob/master/rotors_control/include/rotors_control/lee_position_controller.h The controller can be used to command linear velocity and yaw angle velocity expressed in the body frame.
Member Function Documentation
◆ CalculateRotorVelocities()
void CalculateRotorVelocities | ( | const FrameData & | _frameData, |
const EigenTwist & | _cmdVel, | ||
Eigen::VectorXd & | _rotorVelocities | ||
) | const |
Calculate rotor velocities given the current frame data and the commanded velocity.
- Parameters
-
[in] _frameData Frame data including pose and linear and angular velocities [in] _cmdVel Commanded velocity [out] _rotorVelocities Computed rotor velocities.
◆ MakeController()
|
static |
Factory function to create LeeVelocityController objects.
- Parameters
-
[in] _controllerParams Controller parameteres [in] _vehicleParams Vehicle parameteres
- Returns
- nullptr if the input parameters were valid, otherwise an pointer to an instance of LeeVelocityController
The documentation for this class was generated from the following file: