Dynamic_model_quad_diag Class Reference

Simulated dynamics of a quadcopter in diag configuration. More...

#include <dynamic_model_quad_diag.hpp>

Inheritance diagram for Dynamic_model_quad_diag:

Collaboration diagram for Dynamic_model_quad_diag:

List of all members.

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

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Detailed Description

Simulated dynamics of a quadcopter in diag configuration.

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Constructor & Destructor Documentation

Dynamic_model_quad_diag::Dynamic_model_quad_diag	(	Servo &	servo_rear_left,
		Servo &	servo_front_left,
		Servo &	servo_front_right,
		Servo &	servo_rear_right,
		dynamic_model_quad_diag_conf_t	config = dynamic_model_quad_diag_default_config()
	)

Constructor.

Parameters:

servo_rear_left	Reference to rear left servo,
servo_front_left	Reference to front left servo
servo_front_right	Reference to front right servo
servo_rear_right	Reference to rear right servo
config	Configuration

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Member Function Documentation

const std::array< float, 3 > & Dynamic_model_quad_diag::acceleration_bf

(

void

)

const [virtual]

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

Returns:

Value

Implements Dynamic_model.

const std::array< float, 3 > & Dynamic_model_quad_diag::angular_velocity_bf

(

void

)

const [virtual]

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

Returns:

Value

Implements Dynamic_model.

const quat_t & Dynamic_model_quad_diag::attitude

(

void

)

const [virtual]

Get attitude quaternion.

Returns:

Value

Implements Dynamic_model.

const float & Dynamic_model_quad_diag::last_update_us

(

void

)

const [virtual]

Get last update time in microseconds.

Returns:

Update time

Implements Dynamic_model.

const global_position_t & Dynamic_model_quad_diag::position_gf

(

void

)

const [virtual]

Get X, Y and Z position in global frame.

Returns:

Value

Implements Dynamic_model.

const local_position_t & Dynamic_model_quad_diag::position_lf

(

void

)

const [virtual]

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

Returns:

Value

Implements Dynamic_model.

bool Dynamic_model_quad_diag::update

(

void

)

[virtual]

Main update function Reads new values from sensor.

Returns:

Success

Implements Dynamic_model.

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const std::array< float, 3 > & Dynamic_model_quad_diag::velocity_lf

(

void

)

const [virtual]

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

Returns:

Value

Implements Dynamic_model.

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

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