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.

Static Public Member Functions
static std::unique_ptr< LeeVelocityController >	MakeController (const LeeVelocityControllerParameters &_controllerParams, const VehicleParameters &_vehicleParams)
	Factory function to create LeeVelocityController objects.

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 std::unique_ptr< LeeVelocityController > MakeController ( const LeeVelocityControllerParameters &  _controllerParams, const VehicleParameters &  _vehicleParams  )

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

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The documentation for this class was generated from the following file:

• LeeVelocityController.hh