Dynamic_model Class Reference

Abstract class for simulation's dynamic model. More...

#include <dynamic_model.hpp>

Inheritance diagram for Dynamic_model:

List of all members.

Public Member Functions
virtual bool	update (void)=0
	Main update function Reads new values from sensor.
virtual const float &	last_update_us (void) const =0
	Get last update time in microseconds.
virtual const std::array < float, 3 > &	acceleration_bf (void) const =0
	Get X, Y and Z components of acceleration in body frame in m/s^2.
virtual const std::array < float, 3 > &	velocity_lf (void) const =0
	Get X, Y and Z components of velocity in local frame.
virtual const std::array < float, 3 > &	position_lf (void) const =0
	Get X, Y and Z position in local frame (centered on home)
virtual const global_position_t &	position_gf (void) const =0
	Get X, Y and Z position in global frame.
virtual const std::array < float, 3 > &	angular_velocity_bf (void) const =0
	Get X, Y and Z components of angular velocity in body frame.
virtual const quat_t &	attitude (void) const =0
	Get attitude quaternion.

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Detailed Description

Abstract class for simulation's dynamic model.

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Member Function Documentation

virtual const std::array<float, 3>& Dynamic_model::acceleration_bf

(

void

)

const [pure virtual]

Get X, Y and Z components of acceleration in body frame in m/s^2.

Returns:

Value

Implemented in Dynamic_model_quad_diag.

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virtual const std::array<float, 3>& Dynamic_model::angular_velocity_bf

(

void

)

const [pure virtual]

Get X, Y and Z components of angular velocity in body frame.

Returns:

Value

Implemented in Dynamic_model_quad_diag.

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virtual const quat_t& Dynamic_model::attitude

(

void

)

const [pure virtual]

Get attitude quaternion.

Returns:

Value

Implemented in Dynamic_model_quad_diag.

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virtual const float& Dynamic_model::last_update_us

(

void

)

const [pure virtual]

Get last update time in microseconds.

Returns:

Update time

Implemented in Dynamic_model_quad_diag.

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virtual const global_position_t& Dynamic_model::position_gf

(

void

)

const [pure virtual]

Get X, Y and Z position in global frame.

Returns:

Value

Implemented in Dynamic_model_quad_diag.

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virtual const std::array<float, 3>& Dynamic_model::position_lf

(

void

)

const [pure virtual]

Get X, Y and Z position in local frame (centered on home)

Returns:

Value

Implemented in Dynamic_model_quad_diag.

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virtual bool Dynamic_model::update

(

void

)

[pure virtual]

Main update function Reads new values from sensor.

Returns:

Success

Implemented in Dynamic_model_quad_diag.

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virtual const std::array<float, 3>& Dynamic_model::velocity_lf

(

void

)

const [pure virtual]

Get X, Y and Z components of velocity in local frame.

Returns:

Value

Implemented in Dynamic_model_quad_diag.

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

• /home/travis/build/lis-epfl/MAVRIC_Library/simulation/dynamic_model.hpp