Gazebo Sim

API Reference

8.6.0
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< FrameDatagetFrameData (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

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]_rotorConfigurationRotor 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]_ecmMutable reference to the entity component manager
[in]_linkLink 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]_ecmImutable reference to the entity component manager
[in]_linkLink on which the components will be created.
[in]_noiseNoise 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]_ecmImmutable reference to the entity component manager
[in]_sdfPointer to the SDF element of the system
[in]_modelModel to which the system is attached
[in]_comLinkLink 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]_vectorany 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]_skewMatrixany matrix in so(3)
Returns
a vector in R3