Servos_mix_matrix< N > Class Template Reference

Servos mix. More...

#include <servos_mix_matrix.hpp>

Inheritance diagram for Servos_mix_matrix< N >:

Collaboration diagram for Servos_mix_matrix< N >:

List of all members.

Classes
struct	args_t
	Required arguments. More...
struct	conf_t
	Configuration structure. More...
Public Member Functions
	Servos_mix_matrix (const args_t &args, const conf_t &config=default_config())
	Constructor.
	thrust_command_ (thrust_command_t{{{0.0f, 0.0f, 0.0f}}})
	mix_ (config.mix)
	trim_ (config.trim)
	min_ (config.min)
	max_ (config.max)
virtual bool	update (void)
	Perform conversion from torque/thrust command to servo command.
virtual bool	failsafe (void)
virtual bool	set_command (const torque_command_t &torque)
	sets the torque command
virtual bool	set_command (const thrust_command_t &thrust)
	sets the thrust command
virtual bool	get_command (torque_command_t &torque) const
	sets the torque command
virtual bool	get_command (thrust_command_t &thrust) const
	sets the thrust command
Static Public Member Functions
static conf_t	default_config (void)
	Default configuration.
Protected Attributes
std::array< Servo *, N >	servos_
torque_command_t	torque_command_
thrust_command_t	thrust_command_
Mat< N, 6 >	mix_
Mat< N, 1 >	trim_
Mat< N, 1 >	min_
Mat< N, 1 >	max_

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Detailed Description

template<uint32_t N>
class Servos_mix_matrix< N >

Servos mix.

Template Parameters:

N	Number of servos

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Member Function Documentation

template<uint32_t N>

static conf_t Servos_mix_matrix< N >::default_config

(

void

)

[inline, static]

Default configuration.

Returns:

Config structure

template<uint32_t N>

virtual bool Servos_mix_matrix< N >::get_command

(

torque_command_t &

torque

)

const [inline, virtual]

sets the torque command

Parameters:

command

torque command in body frame

Returns:

success whether command was accepted

Implements Servos_mix.

template<uint32_t N>

virtual bool Servos_mix_matrix< N >::get_command

(

thrust_command_t &

thrust

)

const [inline, virtual]

sets the thrust command

Parameters:

command

thrust command in body frame

Returns:

success whether command was accepted

Implements Servos_mix.

template<uint32_t N>

virtual bool Servos_mix_matrix< N >::set_command

(

const torque_command_t &

torque

)

[inline, virtual]

sets the torque command

Parameters:

command

torque command in body frame

Returns:

success whether command was accepted

Implements Servos_mix.

template<uint32_t N>

virtual bool Servos_mix_matrix< N >::set_command

(

const thrust_command_t &

thrust

)

[inline, virtual]

sets the thrust command

Parameters:

command

thrust command in body frame

Returns:

success whether command was accepted

Implements Servos_mix.

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

• /home/travis/build/lis-epfl/MAVRIC_Library/control/servos_mix_matrix.hpp