Parameters.hh

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/*
 * Copyright (C) 2019 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 */
 
#ifndef GZ_SIM_SYSTEMS_MULTICOPTERVELOCITYCONTROL_PARAMETERS_HH_
#define GZ_SIM_SYSTEMS_MULTICOPTERVELOCITYCONTROL_PARAMETERS_HH_
 
#include <Eigen/Geometry>
#include <vector>
 
#include "gz/sim/config.hh"
 
namespace gz
{
namespace sim
{
// Inline bracket to help doxygen filtering.
inline namespace GZ_SIM_VERSION_NAMESPACE {
namespace systems
{
namespace multicopter_control
{
  struct Rotor
  {
    // cppcheck-suppress unusedStructMember
    double angle;
    // cppcheck-suppress unusedStructMember
    double armLength;
    // cppcheck-suppress unusedStructMember
    double forceConstant;
    // cppcheck-suppress unusedStructMember
    double momentConstant;
    // cppcheck-suppress unusedStructMember
    int direction;
  };
 
  using RotorConfiguration = std::vector<Rotor>;
 
  struct VehicleParameters
  {
    // cppcheck-suppress unusedStructMember
    double mass;
    Eigen::Matrix3d inertia;
    Eigen::Vector3d gravity;
    RotorConfiguration rotorConfiguration;
  };
 
  struct NoiseParameters
  {
    Eigen::Vector3d linearVelocityMean;
    Eigen::Vector3d linearVelocityStdDev;
    Eigen::Vector3d angularVelocityMean;
    Eigen::Vector3d angularVelocityStdDev;
  };
 
}  // namespace multicopter_control
}  // namespace systems
}  // namespace GZ_SIM_VERSION_NAMESPACE
}  // namespace sim
}  // namespace gz
 
#endif