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

)

References Simulators::Multicopter::MulticopterModelParameters::configuration, and Simulators::Multicopter::MulticopterModelParameters::frame.

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: