DUNE: Uniform Navigational Environment  2.5.0-rc1
Simulators::Multicopter::MulticopterModel Class Reference

Public Member Functions

 MulticopterModel (const MulticopterModelParameters &param)
 
virtual ~MulticopterModel ()
 
Math::Matrix stepInv (const Math::Matrix &servo_speed, const Math::Matrix &nu, const Math::Matrix &eta)
 
double getThrustScale (void)
 
unsigned int getNMotors (void)
 

Constructor & Destructor Documentation

Simulators::Multicopter::MulticopterModel::MulticopterModel ( const MulticopterModelParameters param)
Simulators::Multicopter::MulticopterModel::~MulticopterModel ( )
virtual

Member Function Documentation

unsigned int Simulators::Multicopter::MulticopterModel::getNMotors ( void  )
inline
double Simulators::Multicopter::MulticopterModel::getThrustScale ( void  )
inline
Matrix Simulators::Multicopter::MulticopterModel::stepInv ( const Math::Matrix &  servo_speed,
const Math::Matrix &  nu,
const Math::Matrix &  eta 
)

Routine to compute the next step, yet compute the acceleration instead of forces.

References DUNE::Math::inverse().

Referenced by Simulators::Multicopter::Task::task().

Collaboration diagram for Simulators::Multicopter::MulticopterModel:
Collaboration graph