attitude_controller.cpp
/tmp/ws/src/rotors_simulator/rotors_control/src/
attitude__controller_8cpp
rotors_control/attitude_controller.h
ROTORS_CONTROL_REGISTER_CONTROLLER
attitude__controller_8cpp.html
a13b69021ce3d6a98f19cb703d6bc7bc0
(AttitudeController)
attitude_controller.h
/tmp/ws/src/rotors_simulator/rotors_control/include/rotors_control/
attitude__controller_8h
AttitudeController
attitude_controller_samy.cpp
/tmp/ws/src/rotors_simulator/rotors_control/src/
attitude__controller__samy_8cpp
rotors_control/attitude_controller_samy.h
ROTORS_CONTROL_REGISTER_CONTROLLER
attitude__controller__samy_8cpp.html
a1319d09dbc7bf4518988ab90f968644a
(AttitudeControllerSamy)
attitude_controller_samy.h
/tmp/ws/src/rotors_simulator/rotors_control/include/rotors_control/
attitude__controller__samy_8h
AttitudeControllerSamy
common.h
/tmp/ws/src/rotors_simulator/rotors_control/include/rotors_control/
common_8h
rotors_control/parameters.h
rotors_control::EigenOdometry
rotors_control
void
calculateAllocationMatrix
namespacerotors__control.html
afb3fe7b84c210992d1e9fd6ee337e0bf
(const RotorConfiguration &rotor_configuration, Eigen::Matrix4Xd *allocation_matrix)
void
eigenOdometryFromMsg
namespacerotors__control.html
aa9f8255c0362903f2feff121ac3cf599
(const nav_msgs::OdometryConstPtr &msg, EigenOdometry *odometry)
void
skewMatrixFromVector
namespacerotors__control.html
ab948be7641f8da52f4ad4437a2b4442d
(Eigen::Vector3d &vector, Eigen::Matrix3d *skew_matrix)
void
vectorFromSkewMatrix
namespacerotors__control.html
a01894124405a5d16ec9b713121a0ac52
(Eigen::Matrix3d &skew_matrix, Eigen::Vector3d *vector)
static const std::string
kDefaultCommandMotorSpeedTopic
namespacerotors__control.html
ae4edcc28fae223ff8dba37e1057bd453
static const std::string
kDefaultCommandMultiDofJointTrajectoryTopic
namespacerotors__control.html
acf08c713bd2d28cd7f4a65111ab809a8
static const std::string
kDefaultCommandRollPitchYawrateThrustTopic
namespacerotors__control.html
a8a0a76832e74dde2efce0b9cce4db77b
static const std::string
kDefaultImuTopic
namespacerotors__control.html
af79710eae9d707aab74426156c504ead
static const std::string
kDefaultNamespace
namespacerotors__control.html
af5981dba802793a7e912063d01b66603
static const std::string
kDefaultOdometryTopic
namespacerotors__control.html
adbd61ff6f582376fb0f1cef8ec233190
lee_position_controller.cpp
/tmp/ws/src/rotors_simulator/rotors_control/src/library/
lee__position__controller_8cpp
rotors_control/lee_position_controller.h
rotors_control
lee_position_controller.h
/tmp/ws/src/rotors_simulator/rotors_control/include/rotors_control/
lee__position__controller_8h
rotors_control/common.h
rotors_control/parameters.h
rotors_control::LeePositionController
rotors_control::LeePositionControllerParameters
rotors_control
static const Eigen::Vector3d
kDefaultAngularRateGain
namespacerotors__control.html
a5fd8a1a798cbe1d8b267a7780e39f573
static const Eigen::Vector3d
kDefaultAttitudeGain
namespacerotors__control.html
ac87cbf528ad44cfd80fbcb48ac8c9503
static const Eigen::Vector3d
kDefaultPositionGain
namespacerotors__control.html
a2c0350d10b7ffbba54d2ae9225d5ce12
static const Eigen::Vector3d
kDefaultVelocityGain
namespacerotors__control.html
a2ee2cda60e02a5815aae27b1540415a7
lee_position_controller_node.cpp
/tmp/ws/src/rotors_simulator/rotors_control/src/nodes/
lee__position__controller__node_8cpp
lee_position_controller_node.h
rotors_control/parameters_ros.h
rotors_control
int
main
lee__position__controller__node_8cpp.html
a3c04138a5bfe5d72780bb7e82a18e627
(int argc, char **argv)
lee_position_controller_node.h
/tmp/ws/src/rotors_simulator/rotors_control/src/nodes/
lee__position__controller__node_8h
rotors_control/common.h
rotors_control/lee_position_controller.h
rotors_control::LeePositionControllerNode
rotors_control
motor_controller.cpp
/tmp/ws/src/rotors_simulator/rotors_control/src/
motor__controller_8cpp
rotors_control/motor_controller.h
ROTORS_CONTROL_REGISTER_CONTROLLER
motor__controller_8cpp.html
a682cf669ea1a39f9dc61ae2434ceafa1
(MotorController)
motor_controller.h
/tmp/ws/src/rotors_simulator/rotors_control/include/rotors_control/
motor__controller_8h
MotorController
parameters.h
/tmp/ws/src/rotors_simulator/rotors_control/include/rotors_control/
parameters_8h
rotors_control::Rotor
rotors_control::RotorConfiguration
rotors_control::VehicleParameters
rotors_control
static constexpr double
kDefaultArmLength
namespacerotors__control.html
ae93f4b3350a5951d7194fadd66fa2e6c
static constexpr double
kDefaultGravity
namespacerotors__control.html
a3114d747c197853b5655aacd1ccd2282
static constexpr double
kDefaultInertiaXx
namespacerotors__control.html
a016aedc2dda4f34493f3c0ede9390d5c
static constexpr double
kDefaultInertiaYy
namespacerotors__control.html
a683ac3ddba9d57b6158cc135d4534eba
static constexpr double
kDefaultInertiaZz
namespacerotors__control.html
a1418c6726dd3f5a0d6340a1e748d1268
static constexpr double
kDefaultMass
namespacerotors__control.html
a5ba47811805de099d4d25bcebb22f1f2
static constexpr double
kDefaultRotor0Angle
namespacerotors__control.html
a04a4032ada8d6c85ecab0de28308ab1b
static constexpr double
kDefaultRotor1Angle
namespacerotors__control.html
a0cf2707c8047a615b0b18c5a65a850e3
static constexpr double
kDefaultRotor2Angle
namespacerotors__control.html
abf03631c1894d0b31aecdd3e90069a26
static constexpr double
kDefaultRotor3Angle
namespacerotors__control.html
a19fcee7ac2523801fb965b1ae803babf
static constexpr double
kDefaultRotor4Angle
namespacerotors__control.html
a8da8f159295775d59df523254b7aa11d
static constexpr double
kDefaultRotor5Angle
namespacerotors__control.html
a713c8ae8834d353f0caefcffb4b9e532
static constexpr double
kDefaultRotorForceConstant
namespacerotors__control.html
a9d43985f45de8ea2d83d592c05f9e9d9
static constexpr double
kDefaultRotorMomentConstant
namespacerotors__control.html
a2d190d4c50102407ff4fd3a8fa59b3f1
parameters_ros.h
/tmp/ws/src/rotors_simulator/rotors_control/include/rotors_control/
parameters__ros_8h
rotors_control/parameters.h
rotors_control
void
GetRosParameter
namespacerotors__control.html
af139f92b5ee7e1304755a8c9425d4aac
(const ros::NodeHandle &nh, const std::string &key, const T &default_value, T *value)
void
GetRotorConfiguration
namespacerotors__control.html
a97c4bf269ea2965059561a648be0ea0f
(const ros::NodeHandle &nh, RotorConfiguration *rotor_configuration)
void
GetVehicleParameters
namespacerotors__control.html
a0b085a90327b6276c5a89a2f9df79fea
(const ros::NodeHandle &nh, VehicleParameters *vehicle_parameters)
rate_controller.cpp
/tmp/ws/src/rotors_simulator/rotors_control/src/
rate__controller_8cpp
rotors_control/rate_controller.h
ROTORS_CONTROL_REGISTER_CONTROLLER
rate__controller_8cpp.html
a23338af51c5a6b124a0621179fa28267
(RateController)
rate_controller.h
/tmp/ws/src/rotors_simulator/rotors_control/include/rotors_control/
rate__controller_8h
RateController
roll_pitch_yawrate_thrust_controller.cpp
/tmp/ws/src/rotors_simulator/rotors_control/src/library/
roll__pitch__yawrate__thrust__controller_8cpp
rotors_control/roll_pitch_yawrate_thrust_controller.h
rotors_control
roll_pitch_yawrate_thrust_controller.h
/tmp/ws/src/rotors_simulator/rotors_control/include/rotors_control/
roll__pitch__yawrate__thrust__controller_8h
rotors_control/common.h
rotors_control/parameters.h
rotors_control::RollPitchYawrateThrustController
rotors_control::RollPitchYawrateThrustControllerParameters
rotors_control
static const Eigen::Vector3d
kDefaultAngularRateGain
namespacerotors__control.html
a5fd8a1a798cbe1d8b267a7780e39f573
static const Eigen::Vector3d
kDefaultAttitudeGain
namespacerotors__control.html
ac87cbf528ad44cfd80fbcb48ac8c9503
roll_pitch_yawrate_thrust_controller_node.cpp
/tmp/ws/src/rotors_simulator/rotors_control/src/nodes/
roll__pitch__yawrate__thrust__controller__node_8cpp
roll_pitch_yawrate_thrust_controller_node.h
rotors_control/parameters_ros.h
rotors_control
int
main
roll__pitch__yawrate__thrust__controller__node_8cpp.html
a3c04138a5bfe5d72780bb7e82a18e627
(int argc, char **argv)
roll_pitch_yawrate_thrust_controller_node.h
/tmp/ws/src/rotors_simulator/rotors_control/src/nodes/
roll__pitch__yawrate__thrust__controller__node_8h
rotors_control/common.h
rotors_control/roll_pitch_yawrate_thrust_controller.h
rotors_control::RollPitchYawrateThrustControllerNode
rotors_control
AttitudeController
classAttitudeController.html
AttitudeController
classAttitudeController.html
aa6e2d23f5ff60d93f0bf720d28f428e7
()
virtual void
CalculateRotorVelocities
classAttitudeController.html
a2caa9cc1dd0c834c95779f36600cd435
(Eigen::VectorXd *rotor_velocities) const
virtual std::shared_ptr< ControllerBase >
Clone
classAttitudeController.html
a25bd8040a70dbe82af860cfc00289ae1
()
virtual void
InitializeParams
classAttitudeController.html
a52aafabfc37eb43e1f59f19b7ed07304
()
virtual
~AttitudeController
classAttitudeController.html
a06eb9c4e42536e6cde4eda3cea41fd1e
()
void
ComputeDesiredAngularAcc
classAttitudeController.html
a91e3117e6df402aff9b1705d8ab03600
(Eigen::Vector3d *angular_acceleration) const
Eigen::Matrix4Xd
allocation_matrix_
classAttitudeController.html
af76a74d6d55d167e65b47fab3b29aa63
Eigen::MatrixX4d
angular_acc_to_rotor_velocities_
classAttitudeController.html
af59224305751f54a95b963d3722f95fa
Eigen::Vector3d
gain_angular_rate_
classAttitudeController.html
a68e5264c7a943f35523e4fb428a77350
Eigen::Vector3d
gain_attitude_
classAttitudeController.html
a52c49b0f56857bb4cd6cb573c05c4239
const double
gravity_
classAttitudeController.html
acfe1b4d58da11e5cc2c57d0732020645
Eigen::Matrix3d
inertia_matrix_
classAttitudeController.html
ad9182eb03c4c04a3bea717f2e146225a
double
mass_
classAttitudeController.html
a1421db39c2fa6d6ba600fc77eaa3c5c3
AttitudeControllerSamy
classAttitudeControllerSamy.html
AttitudeControllerSamy
classAttitudeControllerSamy.html
abd9bedbf440059a6e4b48209e59bf786
()
virtual void
CalculateRotorVelocities
classAttitudeControllerSamy.html
aa22a1129451300d7bbd34335a1526269
(Eigen::VectorXd *rotor_velocities) const
virtual std::shared_ptr< ControllerBase >
Clone
classAttitudeControllerSamy.html
ae4f154a854bdea30f5362070519f293e
()
virtual void
InitializeParams
classAttitudeControllerSamy.html
ae9d1b59eb5b5315f2d9cb9d6782fdfb3
()
virtual
~AttitudeControllerSamy
classAttitudeControllerSamy.html
a36191b458857a0c3907fca7d792e54ba
()
void
ComputeDesiredAngularAcc
classAttitudeControllerSamy.html
abf8cd57066db2e2244b3d08cefe03230
(Eigen::Vector3d *angular_acceleration) const
Eigen::Matrix4Xd
allocation_matrix_
classAttitudeControllerSamy.html
addae00db957c02c0e39c7eec4ab4414c
Eigen::MatrixX4d
angular_acc_to_rotor_velocities_
classAttitudeControllerSamy.html
af18fefccdd3f821261e264156775200f
Eigen::Vector3d
gain_angular_rate_
classAttitudeControllerSamy.html
adeed149ba7494162a84a760bac52df4f
Eigen::Vector3d
gain_attitude_
classAttitudeControllerSamy.html
aae8e3b1e61faf3c777ad6c17fa3febcd
const double
gravity_
classAttitudeControllerSamy.html
a6a15c2c695edc83651534d96a5302e2f
Eigen::Matrix3d
inertia_matrix_
classAttitudeControllerSamy.html
a58fbb18c2cf30aec2d42b6ff4a883905
double
mass_
classAttitudeControllerSamy.html
aa6fa1dc611e967afee81bcb819a761ec
rotors_control::EigenOdometry
structrotors__control_1_1EigenOdometry.html
EigenOdometry
structrotors__control_1_1EigenOdometry.html
a85068f06571789c00dd5301db7e9f75d
()
EigenOdometry
structrotors__control_1_1EigenOdometry.html
a97bc3069b39104b3f7e3096888b38e1b
(const Eigen::Vector3d &_position, const Eigen::Quaterniond &_orientation, const Eigen::Vector3d &_velocity, const Eigen::Vector3d &_angular_velocity)
Eigen::Vector3d
angular_velocity
structrotors__control_1_1EigenOdometry.html
a7873ffd0a0f4f6c007ed8c47545be3ab
Eigen::Quaterniond
orientation
structrotors__control_1_1EigenOdometry.html
af528a1700865b9db57ccfbd6fb5e0e32
Eigen::Vector3d
position
structrotors__control_1_1EigenOdometry.html
abcdac3f33c965059a560c376488a6e26
Eigen::Vector3d
velocity
structrotors__control_1_1EigenOdometry.html
af957fd8960d70cef45f615f79d4f76ec
rotors_control::LeePositionController
classrotors__control_1_1LeePositionController.html
void
CalculateRotorVelocities
classrotors__control_1_1LeePositionController.html
a2e772c50f4bff971ab3e458c141f3c40
(Eigen::VectorXd *rotor_velocities) const
void
InitializeParameters
classrotors__control_1_1LeePositionController.html
a0087255af752ea3cf1a56dbd81a678f6
()
LeePositionController
classrotors__control_1_1LeePositionController.html
ace479e4e0dc291b3f773d3ba32c324c1
()
void
SetOdometry
classrotors__control_1_1LeePositionController.html
abe4362e31023297b23b6a0926198f98e
(const EigenOdometry &odometry)
void
SetTrajectoryPoint
classrotors__control_1_1LeePositionController.html
a5bc8ed9df8594b3c6125ed1086f1c546
(const mav_msgs::EigenTrajectoryPoint &command_trajectory)
~LeePositionController
classrotors__control_1_1LeePositionController.html
a00ebe49f4696ef401fa175112c6ddcaf
()
LeePositionControllerParameters
controller_parameters_
classrotors__control_1_1LeePositionController.html
a3b1d89ef8000a2c8ac1d70d5fd58a3c8
VehicleParameters
vehicle_parameters_
classrotors__control_1_1LeePositionController.html
a6c3d418f6c649438df2b9d31ba5c6778
void
ComputeDesiredAcceleration
classrotors__control_1_1LeePositionController.html
afd8a749e0bde4d49ad157fb546688bcb
(Eigen::Vector3d *acceleration) const
void
ComputeDesiredAngularAcc
classrotors__control_1_1LeePositionController.html
a86d890c550ce842b9cd5f528f73d688c
(const Eigen::Vector3d &acceleration, Eigen::Vector3d *angular_acceleration) const
Eigen::MatrixX4d
angular_acc_to_rotor_velocities_
classrotors__control_1_1LeePositionController.html
a9d3da63d329fd6c8a0faf3dbdde3d392
mav_msgs::EigenTrajectoryPoint
command_trajectory_
classrotors__control_1_1LeePositionController.html
a788d06031c5537af74634501315a5eaa
bool
controller_active_
classrotors__control_1_1LeePositionController.html
a801d920d53035d085e1673e3ac33035c
bool
initialized_params_
classrotors__control_1_1LeePositionController.html
a7377e7c6dc9ddc7be2c40c74cd74fea9
Eigen::Vector3d
normalized_angular_rate_gain_
classrotors__control_1_1LeePositionController.html
a93b51b38cc257f5f199921e69808d644
Eigen::Vector3d
normalized_attitude_gain_
classrotors__control_1_1LeePositionController.html
a121ddb25c3dff739dccdf1c9bf29b10e
EigenOdometry
odometry_
classrotors__control_1_1LeePositionController.html
a52588bdcbe99d531f41f52eb1161e7a9
rotors_control::LeePositionControllerNode
classrotors__control_1_1LeePositionControllerNode.html
void
InitializeParams
classrotors__control_1_1LeePositionControllerNode.html
a1fe17fe8dbb198a85a6542f8d96944c2
()
LeePositionControllerNode
classrotors__control_1_1LeePositionControllerNode.html
a4b8c770d0f595f47bf5c6e0895133068
(const ros::NodeHandle &nh, const ros::NodeHandle &private_nh)
void
Publish
classrotors__control_1_1LeePositionControllerNode.html
ab2ca02379fae7b1e61ade926789e4a28
()
~LeePositionControllerNode
classrotors__control_1_1LeePositionControllerNode.html
a3733a1b5afd22816a047d62e713c544f
()
void
CommandPoseCallback
classrotors__control_1_1LeePositionControllerNode.html
aced6734c5754476657bbbdd2b9aaf423
(const geometry_msgs::PoseStampedConstPtr &pose_msg)
void
MultiDofJointTrajectoryCallback
classrotors__control_1_1LeePositionControllerNode.html
a48b87771d262e2b7a095f874d8608b88
(const trajectory_msgs::MultiDOFJointTrajectoryConstPtr &trajectory_reference_msg)
void
OdometryCallback
classrotors__control_1_1LeePositionControllerNode.html
af92650c9d291ff040c7b7521478a2b7f
(const nav_msgs::OdometryConstPtr &odometry_msg)
void
TimedCommandCallback
classrotors__control_1_1LeePositionControllerNode.html
a03795871c6e2068afb4290e911fe6a21
(const ros::TimerEvent &e)
ros::Subscriber
cmd_multi_dof_joint_trajectory_sub_
classrotors__control_1_1LeePositionControllerNode.html
ac40e311aef83b31034f794108a7f8adc
ros::Subscriber
cmd_pose_sub_
classrotors__control_1_1LeePositionControllerNode.html
a8c3d359f71022534262514e1272556c5
ros::Subscriber
cmd_trajectory_sub_
classrotors__control_1_1LeePositionControllerNode.html
a8f2deb9c5f10b7f8fbabf5b6895b7843
ros::Timer
command_timer_
classrotors__control_1_1LeePositionControllerNode.html
a370fd6a90e28770e005909684d1fc296
std::deque< ros::Duration >
command_waiting_times_
classrotors__control_1_1LeePositionControllerNode.html
a2c85899180d76d67fcb31e7c4883d77f
mav_msgs::EigenTrajectoryPointDeque
commands_
classrotors__control_1_1LeePositionControllerNode.html
a935d312d0f6bec6521304c405e54329c
LeePositionController
lee_position_controller_
classrotors__control_1_1LeePositionControllerNode.html
a4fe7946530f0c22341497a7e613d2f6c
ros::Publisher
motor_velocity_reference_pub_
classrotors__control_1_1LeePositionControllerNode.html
ad443d42ca2be66d4961c397fea139e07
std::string
namespace_
classrotors__control_1_1LeePositionControllerNode.html
ac57348ee1e129948d270fcb4686ef701
ros::NodeHandle
nh_
classrotors__control_1_1LeePositionControllerNode.html
a59d2a47eae841e3d4d957d55951b0f48
ros::Subscriber
odometry_sub_
classrotors__control_1_1LeePositionControllerNode.html
a93f834adb28972dfa79a43fc8c35a013
ros::NodeHandle
private_nh_
classrotors__control_1_1LeePositionControllerNode.html
afa21c122d6684893949577854c229c41
rotors_control::LeePositionControllerParameters
classrotors__control_1_1LeePositionControllerParameters.html
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
LeePositionControllerParameters
classrotors__control_1_1LeePositionControllerParameters.html
a5c495ef9690a9642d55f1e6445f9dc01
()
Eigen::Matrix4Xd
allocation_matrix_
classrotors__control_1_1LeePositionControllerParameters.html
acce3d47c2a335b10bab55179cdd4369e
Eigen::Vector3d
angular_rate_gain_
classrotors__control_1_1LeePositionControllerParameters.html
a8a65938ca259f2dfd0fe28074dbbdf06
Eigen::Vector3d
attitude_gain_
classrotors__control_1_1LeePositionControllerParameters.html
a90e905bdd6af70102ce5371cc348b8b4
Eigen::Vector3d
position_gain_
classrotors__control_1_1LeePositionControllerParameters.html
a23ab657546833b86ecf977a48ff621e3
RotorConfiguration
rotor_configuration_
classrotors__control_1_1LeePositionControllerParameters.html
abe0d4ab3e39bb571515eeba4e08e569a
Eigen::Vector3d
velocity_gain_
classrotors__control_1_1LeePositionControllerParameters.html
abb73539940beb225c6d8e9541cef877a
MotorController
classMotorController.html
virtual void
CalculateRotorVelocities
classMotorController.html
a544d9e5e539857847d10c277783511ff
(Eigen::VectorXd *rotor_velocities) const
virtual std::shared_ptr< ControllerBase >
Clone
classMotorController.html
a82b0599c7cebd99df64c9eddf03cc25c
()
virtual void
InitializeParams
classMotorController.html
a86de0f784bf775321ec308274bf2a0f2
()
MotorController
classMotorController.html
a1c32db157ba4b6dba1f2d6bc8891f16d
()
virtual
~MotorController
classMotorController.html
ae4a6055b64466936c3576fb52fda9307
()
Eigen::Matrix4Xd
allocation_matrix_
classMotorController.html
aeed44f8032b88de1242a1b20eae48832
Eigen::MatrixX4d
angular_acc_to_rotor_velocities_
classMotorController.html
a3709df8ce9296a4079055dab56dd6d42
Eigen::Vector3d
gain_angular_rate_
classMotorController.html
a8b2d85c7872d8ab770d97604884cb3ea
Eigen::Vector3d
gain_attitude_
classMotorController.html
ae87258539c9df6c791a5a442531e8167
Eigen::Matrix3d
inertia_matrix_
classMotorController.html
a6153d8d3ee94060409c74002705580c6
RateController
classRateController.html
virtual void
CalculateRotorVelocities
classRateController.html
a76d5e88e7d45b5c03d2d7eed7e1d19a4
(Eigen::VectorXd *rotor_velocities) const
virtual std::shared_ptr< ControllerBase >
Clone
classRateController.html
a120825a09d5b94c12c7efd7da4eecd0d
()
virtual void
InitializeParams
classRateController.html
a9d8ff892e9b2dc4fe9b30e77eb5793ce
()
RateController
classRateController.html
a863a0e51a1e5e8191cdad0c9e12216af
()
virtual
~RateController
classRateController.html
a642f94b68787f488faae4f45d5100a19
()
void
ComputeDesiredAngularAcc
classRateController.html
ab51d6866ca1e6be82e8b63a2b3bc2156
(Eigen::Vector3d *angular_acceleration) const
Eigen::Matrix4Xd
allocation_matrix_
classRateController.html
a461f18c03626fc3a98f4698b43cf01f6
Eigen::MatrixX4d
angular_acc_to_rotor_velocities_
classRateController.html
aece05e50fff6f9c31d3e24fffdb1ff6c
Eigen::Vector3d
gain_angular_rate_
classRateController.html
a633fffd55e3e88e42ffc79326883af4b
const double
gravity_
classRateController.html
a4d1565cf1983778287493efcdb05532b
Eigen::Matrix3d
inertia_matrix_
classRateController.html
a1805e5159d64f5ffc59be0c79e2e90c3
double
mass_
classRateController.html
a1aba3308addf6ee59db93601aa2357fd
rotors_control::RollPitchYawrateThrustController
classrotors__control_1_1RollPitchYawrateThrustController.html
void
CalculateRotorVelocities
classrotors__control_1_1RollPitchYawrateThrustController.html
a98015d6cb291dbae0997f24c38cf34a9
(Eigen::VectorXd *rotor_velocities) const
void
InitializeParameters
classrotors__control_1_1RollPitchYawrateThrustController.html
ae3435bae7aecb88df003f063e3ce70f1
()
RollPitchYawrateThrustController
classrotors__control_1_1RollPitchYawrateThrustController.html
ab2e63d0f7bfed5b1dacbedb8a1c24ae7
()
void
SetOdometry
classrotors__control_1_1RollPitchYawrateThrustController.html
a05e401e8a8b17804283e7a2e30109bb9
(const EigenOdometry &odometry)
void
SetRollPitchYawrateThrust
classrotors__control_1_1RollPitchYawrateThrustController.html
a4b40e6bf9a1fe8cf372cf9525240d350
(const mav_msgs::EigenRollPitchYawrateThrust &roll_pitch_yawrate_thrust)
~RollPitchYawrateThrustController
classrotors__control_1_1RollPitchYawrateThrustController.html
acd5d9792a1eda51a4ee9af3e70d4d25f
()
RollPitchYawrateThrustControllerParameters
controller_parameters_
classrotors__control_1_1RollPitchYawrateThrustController.html
aa7ef635ef58f97bd951c1248a4e52aba
VehicleParameters
vehicle_parameters_
classrotors__control_1_1RollPitchYawrateThrustController.html
a94279ae200c806bea68e22975411ff6c
void
ComputeDesiredAngularAcc
classrotors__control_1_1RollPitchYawrateThrustController.html
a6839186b46c6947309d11e1c01570231
(Eigen::Vector3d *angular_acceleration) const
Eigen::MatrixX4d
angular_acc_to_rotor_velocities_
classrotors__control_1_1RollPitchYawrateThrustController.html
a24b24c529878c5d0d86dd46e18780326
bool
controller_active_
classrotors__control_1_1RollPitchYawrateThrustController.html
a8fa35142be60c03720377a0442041727
bool
initialized_params_
classrotors__control_1_1RollPitchYawrateThrustController.html
a71976c222719f9d6db4f0225893325d5
Eigen::Vector3d
normalized_angular_rate_gain_
classrotors__control_1_1RollPitchYawrateThrustController.html
a11269c8a32576624e3bc3589c19f6bef
Eigen::Vector3d
normalized_attitude_gain_
classrotors__control_1_1RollPitchYawrateThrustController.html
a8be062dfecd748788112cc37ebf89cc1
EigenOdometry
odometry_
classrotors__control_1_1RollPitchYawrateThrustController.html
add6460cea6cca484d822f932649f7646
mav_msgs::EigenRollPitchYawrateThrust
roll_pitch_yawrate_thrust_
classrotors__control_1_1RollPitchYawrateThrustController.html
a275879ba12afac520336c728b817aaf8
rotors_control::RollPitchYawrateThrustControllerNode
classrotors__control_1_1RollPitchYawrateThrustControllerNode.html
void
InitializeParams
classrotors__control_1_1RollPitchYawrateThrustControllerNode.html
a4c1c63094ef7a993ad61c07a278d3361
()
void
Publish
classrotors__control_1_1RollPitchYawrateThrustControllerNode.html
a3a5bf327af44e0bb0bebbdb7d076e6dc
()
RollPitchYawrateThrustControllerNode
classrotors__control_1_1RollPitchYawrateThrustControllerNode.html
ab2144d87a9866195f780599d22d918db
()
~RollPitchYawrateThrustControllerNode
classrotors__control_1_1RollPitchYawrateThrustControllerNode.html
ac3553f2a289760dfde4c656f64a26409
()
void
OdometryCallback
classrotors__control_1_1RollPitchYawrateThrustControllerNode.html
a743f0f1a7726cc2cd426028f792584c7
(const nav_msgs::OdometryConstPtr &odometry_msg)
void
RollPitchYawrateThrustCallback
classrotors__control_1_1RollPitchYawrateThrustControllerNode.html
aa1102d7aa07f9f69ca5164d1b80b2c99
(const mav_msgs::RollPitchYawrateThrustConstPtr &roll_pitch_yawrate_thrust_reference_msg)
ros::Subscriber
cmd_roll_pitch_yawrate_thrust_sub_
classrotors__control_1_1RollPitchYawrateThrustControllerNode.html
a790c4a6768f5571fa32a2a6d21f4a99c
ros::Publisher
motor_velocity_reference_pub_
classrotors__control_1_1RollPitchYawrateThrustControllerNode.html
aab31e0a755060d24cc2198c62d552baa
std::string
namespace_
classrotors__control_1_1RollPitchYawrateThrustControllerNode.html
a3f7572e947fc510973aa17771d61353b
ros::Subscriber
odometry_sub_
classrotors__control_1_1RollPitchYawrateThrustControllerNode.html
a990daa90efda10fd0c9afdc3f5de9fbf
RollPitchYawrateThrustController
roll_pitch_yawrate_thrust_controller_
classrotors__control_1_1RollPitchYawrateThrustControllerNode.html
a07ba83db725260ab110e542086554cf4
rotors_control::RollPitchYawrateThrustControllerParameters
classrotors__control_1_1RollPitchYawrateThrustControllerParameters.html
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
RollPitchYawrateThrustControllerParameters
classrotors__control_1_1RollPitchYawrateThrustControllerParameters.html
acfdb886fa7d730c919b859af6ae9f593
()
Eigen::Matrix4Xd
allocation_matrix_
classrotors__control_1_1RollPitchYawrateThrustControllerParameters.html
a5d62717d449fc2b85fd86a1dd1a9325a
Eigen::Vector3d
angular_rate_gain_
classrotors__control_1_1RollPitchYawrateThrustControllerParameters.html
ab6b57e161e42e31289ba75f755d1cb89
Eigen::Vector3d
attitude_gain_
classrotors__control_1_1RollPitchYawrateThrustControllerParameters.html
a6ceddca7452036f657f91a187181c427
RotorConfiguration
rotor_configuration_
classrotors__control_1_1RollPitchYawrateThrustControllerParameters.html
a23855d5bc3ed3f2380ba7b1c67e768ff
rotors_control::Rotor
structrotors__control_1_1Rotor.html
Rotor
structrotors__control_1_1Rotor.html
a149ed9a1d732ca4ca914d0b7f6bd2155
()
Rotor
structrotors__control_1_1Rotor.html
a32fdd0ff96774f784cf367089d1b3830
(double _angle, double _arm_length, double _rotor_force_constant, double _rotor_moment_constant, int _direction)
double
angle
structrotors__control_1_1Rotor.html
a9059f76482f5659d132aac6f21bc5d6e
double
arm_length
structrotors__control_1_1Rotor.html
af8da36e540b1c8df056024f7aaf680cb
int
direction
structrotors__control_1_1Rotor.html
ac195603fdea4c81d04b38d4762e637cf
double
rotor_force_constant
structrotors__control_1_1Rotor.html
a3ec1cdbf6944109277318bc659f22421
double
rotor_moment_constant
structrotors__control_1_1Rotor.html
a4a8706072cf4b0705077b9ff6968ebdd
rotors_control::RotorConfiguration
structrotors__control_1_1RotorConfiguration.html
RotorConfiguration
structrotors__control_1_1RotorConfiguration.html
a674932dffc7800e573999301880ec9ee
()
std::vector< Rotor >
rotors
structrotors__control_1_1RotorConfiguration.html
a21355ce0bc074aaca0296569dbc5eebb
rotors_control::VehicleParameters
classrotors__control_1_1VehicleParameters.html
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
VehicleParameters
classrotors__control_1_1VehicleParameters.html
aa5219a14a8518a35b1a58395dae98d0f
()
const double
gravity_
classrotors__control_1_1VehicleParameters.html
a3f36a4d8ca5dfe6ee9e66b1558eb7aa2
Eigen::Matrix3d
inertia_
classrotors__control_1_1VehicleParameters.html
a3ef61e3da8fcfedbf8ace99340592da4
double
mass_
classrotors__control_1_1VehicleParameters.html
a9e55924e2e8d90beb7aa76fe328083ff
RotorConfiguration
rotor_configuration_
classrotors__control_1_1VehicleParameters.html
aca5c95b211a9b0ea9993aaa8354cadf0
rotors_control
namespacerotors__control.html
rotors_control::EigenOdometry
rotors_control::LeePositionController
rotors_control::LeePositionControllerNode
rotors_control::LeePositionControllerParameters
rotors_control::RollPitchYawrateThrustController
rotors_control::RollPitchYawrateThrustControllerNode
rotors_control::RollPitchYawrateThrustControllerParameters
rotors_control::Rotor
rotors_control::RotorConfiguration
rotors_control::VehicleParameters
void
calculateAllocationMatrix
namespacerotors__control.html
afb3fe7b84c210992d1e9fd6ee337e0bf
(const RotorConfiguration &rotor_configuration, Eigen::Matrix4Xd *allocation_matrix)
void
eigenOdometryFromMsg
namespacerotors__control.html
aa9f8255c0362903f2feff121ac3cf599
(const nav_msgs::OdometryConstPtr &msg, EigenOdometry *odometry)
void
GetRosParameter
namespacerotors__control.html
af139f92b5ee7e1304755a8c9425d4aac
(const ros::NodeHandle &nh, const std::string &key, const T &default_value, T *value)
void
GetRotorConfiguration
namespacerotors__control.html
a97c4bf269ea2965059561a648be0ea0f
(const ros::NodeHandle &nh, RotorConfiguration *rotor_configuration)
void
GetVehicleParameters
namespacerotors__control.html
a0b085a90327b6276c5a89a2f9df79fea
(const ros::NodeHandle &nh, VehicleParameters *vehicle_parameters)
void
skewMatrixFromVector
namespacerotors__control.html
ab948be7641f8da52f4ad4437a2b4442d
(Eigen::Vector3d &vector, Eigen::Matrix3d *skew_matrix)
void
vectorFromSkewMatrix
namespacerotors__control.html
a01894124405a5d16ec9b713121a0ac52
(Eigen::Matrix3d &skew_matrix, Eigen::Vector3d *vector)
static const Eigen::Vector3d
kDefaultAngularRateGain
namespacerotors__control.html
a5fd8a1a798cbe1d8b267a7780e39f573
static const Eigen::Vector3d
kDefaultAngularRateGain
namespacerotors__control.html
a5fd8a1a798cbe1d8b267a7780e39f573
static constexpr double
kDefaultArmLength
namespacerotors__control.html
ae93f4b3350a5951d7194fadd66fa2e6c
static const Eigen::Vector3d
kDefaultAttitudeGain
namespacerotors__control.html
ac87cbf528ad44cfd80fbcb48ac8c9503
static const Eigen::Vector3d
kDefaultAttitudeGain
namespacerotors__control.html
ac87cbf528ad44cfd80fbcb48ac8c9503
static const std::string
kDefaultCommandMotorSpeedTopic
namespacerotors__control.html
ae4edcc28fae223ff8dba37e1057bd453
static const std::string
kDefaultCommandMultiDofJointTrajectoryTopic
namespacerotors__control.html
acf08c713bd2d28cd7f4a65111ab809a8
static const std::string
kDefaultCommandRollPitchYawrateThrustTopic
namespacerotors__control.html
a8a0a76832e74dde2efce0b9cce4db77b
static constexpr double
kDefaultGravity
namespacerotors__control.html
a3114d747c197853b5655aacd1ccd2282
static const std::string
kDefaultImuTopic
namespacerotors__control.html
af79710eae9d707aab74426156c504ead
static constexpr double
kDefaultInertiaXx
namespacerotors__control.html
a016aedc2dda4f34493f3c0ede9390d5c
static constexpr double
kDefaultInertiaYy
namespacerotors__control.html
a683ac3ddba9d57b6158cc135d4534eba
static constexpr double
kDefaultInertiaZz
namespacerotors__control.html
a1418c6726dd3f5a0d6340a1e748d1268
static constexpr double
kDefaultMass
namespacerotors__control.html
a5ba47811805de099d4d25bcebb22f1f2
static const std::string
kDefaultNamespace
namespacerotors__control.html
af5981dba802793a7e912063d01b66603
static const std::string
kDefaultOdometryTopic
namespacerotors__control.html
adbd61ff6f582376fb0f1cef8ec233190
static const Eigen::Vector3d
kDefaultPositionGain
namespacerotors__control.html
a2c0350d10b7ffbba54d2ae9225d5ce12
static constexpr double
kDefaultRotor0Angle
namespacerotors__control.html
a04a4032ada8d6c85ecab0de28308ab1b
static constexpr double
kDefaultRotor1Angle
namespacerotors__control.html
a0cf2707c8047a615b0b18c5a65a850e3
static constexpr double
kDefaultRotor2Angle
namespacerotors__control.html
abf03631c1894d0b31aecdd3e90069a26
static constexpr double
kDefaultRotor3Angle
namespacerotors__control.html
a19fcee7ac2523801fb965b1ae803babf
static constexpr double
kDefaultRotor4Angle
namespacerotors__control.html
a8da8f159295775d59df523254b7aa11d
static constexpr double
kDefaultRotor5Angle
namespacerotors__control.html
a713c8ae8834d353f0caefcffb4b9e532
static constexpr double
kDefaultRotorForceConstant
namespacerotors__control.html
a9d43985f45de8ea2d83d592c05f9e9d9
static constexpr double
kDefaultRotorMomentConstant
namespacerotors__control.html
a2d190d4c50102407ff4fd3a8fa59b3f1
static const Eigen::Vector3d
kDefaultVelocityGain
namespacerotors__control.html
a2ee2cda60e02a5815aae27b1540415a7