Auterion App SDK
Auterion SDK is a library that can be used by AuterionOS apps to communicate with the system.
Classes | Public Member Functions | List of all members
auterion::multicopter::BodyFrameDynamicsSetpoint Class Reference
Control » Multicopter

Represents a setpoint to control velocity, accleration, heading and angular rate in body frame. More...

#include <auterion_sdk/control/multicopter/body_frame_dynamics_control.hpp>

Classes

class  Config
 Placeholder config. More...
 

Public Member Functions

Eigen::Vector3f getVelocity () const
 
Eigen::Vector3f getAcceleration () const
 
float getHeading () const
 
float getHeadingRate () const
 
BodyFrameDynamicsSetpoint & withAcceleration (const Eigen::Vector3f &acceleration_body_flu_m_s2)
 
BodyFrameDynamicsSetpoint & withHorizontalAcceleration (const Eigen::Vector2f &acceleration_body_flu_m_s2)
 
BodyFrameDynamicsSetpoint & withVerticalAcceleration (float acceleration_body_flu_m_s2)
 
BodyFrameDynamicsSetpoint & withVelocity (const Eigen::Vector3f &velocity_body_flu_m_s)
 
BodyFrameDynamicsSetpoint & withHorizontalVelocity (const Eigen::Vector2f &velocity_body_flu_m_s)
 
BodyFrameDynamicsSetpoint & withVerticalVelocity (float velocity_body_flu_m_s)
 
BodyFrameDynamicsSetpoint & withHeading (float heading_rad)
 
BodyFrameDynamicsSetpoint & withHeadingRate (float heading_rate_rad_s)
 

Detailed Description

Represents a setpoint to control velocity, accleration, heading and angular rate in body frame.

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