Common.hh File Reference

#include <Eigen/Geometry>
#include <optional>
#include <vector>
#include <sdf/sdf.hh>
#include "gz/sim/config.hh"
#include "gz/sim/EntityComponentManager.hh"
#include "gz/sim/Model.hh"
#include "Parameters.hh"

Go to the source code of this file.

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...

Namespaces
namespace	gz
	This library is part of the Gazebo project.
namespace	gz::sim
	Gazebo is a leading open source robotics simulator, that provides high fidelity physics, rendering, and sensor simulation.
namespace	gz::sim::systems
	Namespace for all System plugins. Refer to the System class for more information about systems.
namespace	gz::sim::systems::multicopter_control

Functions
std::optional< Eigen::Matrix4Xd >	calculateAllocationMatrix (const RotorConfiguration &_rotorConfiguration)
	Create the matrix that maps rotor velocities to thrust and moments.
void	createFrameDataComponents (EntityComponentManager &_ecm, const Entity &_link)
	Creates components necessary for obtaining the frame data of the given link.
std::optional< FrameData >	getFrameData (const EntityComponentManager &_ecm, const Entity &_link, const NoiseParameters &_noise)
	Retrieves the frame data of the given link and applies noise.
RotorConfiguration	loadRotorConfiguration (const EntityComponentManager &_ecm, const sdf::ElementPtr &_sdf, const Model &_model, const Entity &_comLink)
	Loads rotor configuration from SDF.
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.
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.