Velocity controller for hovering platforms. More...

Inheritance diagram for Velocity_controller_holonomic:

Collaboration diagram for Velocity_controller_holonomic:

Classes
struct	conf_t
	Velocity controller configuration. More...
Public Member Functions
	Velocity_controller_holonomic (const args_t &args, const conf_t &config=default_config())
	Constructor.
Static Public Member Functions
static conf_t	default_config (void)
	Default Configuration.
Public Attributes
uint32_t	use_3d_thrust_
	Boolean indicating if 3D thrust is generated instead of banking.
uint32_t	use_3d_thrust_threshold_
	Boolean indicating if 3D thrust is generated instead of banking only for low desired accel_vector.
float	accel_threshold_3d_thrust_
	Maximum accel command bellow which 3d thrust will be used if use_3d_thrust_threshold_ is set to true.
pid_controller_t	attitude_offset_pid_ [2]
	Attitude offset.
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.

Detailed Description

Velocity controller for hovering platforms.

Constructor & Destructor Documentation

Velocity_controller_holonomic::Velocity_controller_holonomic	(	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

bool Velocity_controller_holonomic::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)

Here is the call graph for this function:

Velocity_controller_holonomic::conf_t Velocity_controller_holonomic::default_config ( void ) [inline, static]

Default Configuration.

/return config

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

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