gz::sim::systems::multicopter_control Namespace Reference

Classes
struct	EigenTwist
	Struct containing linear and angular velocities. More...
struct	FrameData
	Frame data of a link including its pose and linear velocity in world frame as well as its angular velocity in body frame. More...
class	LeeVelocityController
struct	LeeVelocityControllerParameters
	Data structure containing various parameters for the Lee velocity controller. More...
struct	NoiseParameters
	Noise parameters used when computing frame data. These are all assumed to be gaussian. More...
struct	Rotor
	A struct that holds various properties of a rotor. More...
struct	VehicleParameters
	A struct that holds properties of the vehicle such as mass, inertia and rotor configuration. Gravity is also included even though it's not a parameter unique to the vehicle. More...

Typedefs
using	RotorConfiguration = std::vector< Rotor >
	A collection of Rotor objects. More...

Functions
std::optional< Eigen::Matrix4Xd >	calculateAllocationMatrix (const RotorConfiguration &_rotorConfiguration)
	Create the matrix that maps rotor velocities to thrust and moments. More...
void	createFrameDataComponents (EntityComponentManager &_ecm, const Entity &_link)
	Creates components necessary for obtaining the frame data of the given link. More...
std::optional< FrameData >	getFrameData (const EntityComponentManager &_ecm, const Entity &_link, const NoiseParameters &_noise)
	Retrieves the frame data of the given link and applies noise. More...
RotorConfiguration	loadRotorConfiguration (const EntityComponentManager &_ecm, const sdf::ElementPtr &_sdf, const Model &_model, const Entity &_comLink)
	Loads rotor configuration from SDF. More...
Eigen::Matrix3d	skewMatrixFromVector (const Eigen::Vector3d &_vector)
	Creates a skew symmetric matrix (so(3)) from a vector. This is sometimes referred to as the hat map. More...
Eigen::Vector3d	vectorFromSkewMatrix (const Eigen::Matrix3d &_skewMatrix)
	Creates a vector from a skew symmetric matrix(so3). This is sometimes referred to as the vee map or inverse hat map. More...

Typedef Documentation

RotorConfiguration

using RotorConfiguration = std::vector<Rotor>

A collection of Rotor objects.

Function Documentation

calculateAllocationMatrix()

std::optional<Eigen::Matrix4Xd> gz::sim::systems::multicopter_control::calculateAllocationMatrix

(

const RotorConfiguration &

_rotorConfiguration

)

Create the matrix that maps rotor velocities to thrust and moments.

Parameters

[in]

_rotorConfiguration

Rotor configurations

Returns

nullopt if the rotor configuration results in uncontrollable system. Otherwise, returns the computed matrix.

createFrameDataComponents()

void gz::sim::systems::multicopter_control::createFrameDataComponents	(	EntityComponentManager &	_ecm,
		const Entity &	_link
	)

Creates components necessary for obtaining the frame data of the given link.

Parameters

[in]	_ecm	Mutable reference to the entity component manager
[in]	_link	Link on which the components will be created.

getFrameData()

std::optional<FrameData> gz::sim::systems::multicopter_control::getFrameData	(	const EntityComponentManager &	_ecm,
		const Entity &	_link,
		const NoiseParameters &	_noise
	)

Retrieves the frame data of the given link and applies noise.

Parameters

[in]	_ecm	Imutable reference to the entity component manager
[in]	_link	Link on which the components will be created.
[in]	_noise	Noise parameters

loadRotorConfiguration()

RotorConfiguration gz::sim::systems::multicopter_control::loadRotorConfiguration	(	const EntityComponentManager &	_ecm,
		const sdf::ElementPtr &	_sdf,
		const Model &	_model,
		const Entity &	_comLink
	)

Loads rotor configuration from SDF.

Parameters

[in]	_ecm	Immutable reference to the entity component manager
[in]	_sdf	Pointer to the SDF element of the system
[in]	_model	Model to which the system is attached
[in]	_comLink	Link associated with the center of mass.

skewMatrixFromVector()

Eigen::Matrix3d gz::sim::systems::multicopter_control::skewMatrixFromVector ( const Eigen::Vector3d &  _vector )

inline

Creates a skew symmetric matrix (so(3)) from a vector. This is sometimes referred to as the hat map.

Parameters

[in]

_vector

any vector in R3

Returns

a skew symmetric matrix in so(3)

vectorFromSkewMatrix()

Eigen::Vector3d gz::sim::systems::multicopter_control::vectorFromSkewMatrix ( const Eigen::Matrix3d &  _skewMatrix )

inline

Creates a vector from a skew symmetric matrix(so3). This is sometimes referred to as the vee map or inverse hat map.

Parameters

[in]

_skewMatrix

any matrix in so(3)

Returns

a vector in R3