Simulators::Multicopter::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onResourceAcquisition (void)
void	onResourceRelease (void)
Matrix	matrixJ (float roll, float pitch, float yaw)
void	consume (const IMC::SetPWM *msg)
void	task (void)

Public Attributes
MulticopterModel *	m_model
IMC::SimulatedState	m_sstate
IMC::EstimatedState	m_estate
IMC::Acceleration	m_acc
double	m_start_time
double	m_last_update
Matrix	m_servo_speed
Matrix	m_position
Matrix	m_velocity
Arguments	m_args

Constructor & Destructor Documentation

Simulators::Multicopter::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

Constructor.

Parameters

[in]	name	task name.
[in]	ctx	context.

References Simulators::Multicopter::Arguments::b, Simulators::Multicopter::Arguments::cog, Simulators::Multicopter::Arguments::configuration, Simulators::Multicopter::Arguments::frame, Simulators::Multicopter::Arguments::hover_throttle, Simulators::Multicopter::Arguments::inertia, Simulators::Multicopter::Arguments::k, Simulators::Multicopter::Arguments::l, Simulators::Multicopter::Arguments::ldrag, Simulators::Multicopter::Arguments::linear_actuator_dynamics, m_args, m_sstate, Simulators::Multicopter::Arguments::mass, and Simulators::Multicopter::Arguments::qdrag.

Member Function Documentation

void Simulators::Multicopter::Task::consume ( const IMC::SetPWM *  msg )

inline

References m_servo_speed.

Matrix Simulators::Multicopter::Task::matrixJ ( float  roll, float  pitch, float  yaw  )

inline

References DUNE::Math::Matrix::horzCat(), DUNE::Math::transpose(), and DUNE::Math::Matrix::vertCat().

Referenced by task().

void Simulators::Multicopter::Task::onResourceAcquisition ( void  )

inline

Acquire resources.

References Simulators::Multicopter::Arguments::b, Simulators::Multicopter::MulticopterModelParameters::b, Simulators::Multicopter::Arguments::cog, Simulators::Multicopter::MulticopterModelParameters::cog, Simulators::Multicopter::Arguments::configuration, Simulators::Multicopter::MulticopterModelParameters::configuration, Simulators::Multicopter::Configuration_plus, Simulators::Multicopter::Configuration_x, Simulators::Multicopter::Arguments::frame, Simulators::Multicopter::MulticopterModelParameters::frame, Simulators::Multicopter::Frame_hexa, Simulators::Multicopter::Frame_quad, Simulators::Multicopter::Arguments::hover_throttle, Simulators::Multicopter::MulticopterModelParameters::hover_throttle, Simulators::Multicopter::Arguments::inertia, Simulators::Multicopter::MulticopterModelParameters::inertia, Simulators::Multicopter::Arguments::k, Simulators::Multicopter::MulticopterModelParameters::k, Simulators::Multicopter::Arguments::l, Simulators::Multicopter::MulticopterModelParameters::l, Simulators::Multicopter::Arguments::ldrag, Simulators::Multicopter::MulticopterModelParameters::ldrag, Simulators::Multicopter::Arguments::linear_actuator_dynamics, Simulators::Multicopter::MulticopterModelParameters::linear_actuator_dynamics, m_args, m_model, Simulators::Multicopter::Arguments::mass, Simulators::Multicopter::MulticopterModelParameters::mass, Simulators::Multicopter::MulticopterModel, Simulators::Multicopter::Arguments::qdrag, and Simulators::Multicopter::MulticopterModelParameters::qdrag.

void Simulators::Multicopter::Task::onResourceRelease ( void  )

inline

Release resources.

References m_model.

void Simulators::Multicopter::Task::task ( void  )

inline

References m_acc, m_last_update, m_model, m_position, m_servo_speed, m_sstate, m_start_time, m_velocity, matrixJ(), and Simulators::Multicopter::MulticopterModel::stepInv().

Member Data Documentation

IMC::Acceleration Simulators::Multicopter::Task::m_acc

Accelleration.

Referenced by task().

Arguments Simulators::Multicopter::Task::m_args

Task arguments.

Referenced by onResourceAcquisition(), and Task().

IMC::EstimatedState Simulators::Multicopter::Task::m_estate

double Simulators::Multicopter::Task::m_last_update

Last time update was ran.

Referenced by task().

MulticopterModel* Simulators::Multicopter::Task::m_model

Simulation vehicle.

Referenced by onResourceAcquisition(), onResourceRelease(), and task().

Matrix Simulators::Multicopter::Task::m_position

Vehicle position.

Referenced by task().

Matrix Simulators::Multicopter::Task::m_servo_speed

Set Servo positions.

Referenced by consume(), and task().

IMC::SimulatedState Simulators::Multicopter::Task::m_sstate

Simulated position (X,Y,Z).

Referenced by Task(), and task().

double Simulators::Multicopter::Task::m_start_time

Start time.

Referenced by task().

Matrix Simulators::Multicopter::Task::m_velocity

Vehicle velocity vector.

Referenced by task().

Collaboration diagram for Simulators::Multicopter::Task: