Velocity_controller_copter Class Reference

Velocity controller for hovering platforms. More...

#include <velocity_controller_copter.hpp>

Inheritance diagram for Velocity_controller_copter:

Collaboration diagram for Velocity_controller_copter:

List of all members.

Classes
struct	args_t
	Required arguments. More...
struct	conf_t
	Velocity controller configuration. More...
Public Member Functions
	Velocity_controller_copter (const args_t &args, const conf_t &config=default_config())
	Constructor.
Static Public Member Functions
static conf_t	default_config (void)
	Default Configuration.
Protected Member Functions
virtual bool	compute_attitude_and_thrust_from_desired_accel (const std::array< float, 3 > &accel_command, attitude_command_t &attitude_command, thrust_command_t &thrust_command)
	Computes attitude and thrust command based on desired acceleration. Depends on robot dynamics.
Protected Attributes
float	thrust_hover_point_
	Amount of thrust required to hover (between -1 and 1)

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Detailed Description

Velocity controller for hovering platforms.

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Constructor & Destructor Documentation

Velocity_controller_copter::Velocity_controller_copter	(	const args_t &	args,
		const conf_t &	config = default_config()
	)

Constructor.

Parameters:

ahrs	Reference to estimated attitude
ins	Reference to estimated speed and position
config	Configuration

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Member Function Documentation

bool Velocity_controller_copter::compute_attitude_and_thrust_from_desired_accel	(	const std::array< float, 3 > &	accel_command,
		attitude_command_t &	attitude_command,
		thrust_command_t &	thrust_command
	)		[protected, virtual]

Computes attitude and thrust command based on desired acceleration. Depends on robot dynamics.

Parameters:

accel_vector	Desired acceleration vectors (input)
attitude_command	Attitude command (output)
thrust_command	Thrust command (output)

Returns:

success

Implements Velocity_controller.

Reimplemented in Velocity_controller_holonomic.

Velocity_controller_copter::conf_t Velocity_controller_copter::default_config

(

void

)

[inline, static]

Default Configuration.

/return config

Reimplemented in Velocity_controller_holonomic.

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

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