Passer::RoboidControl::Quadcopter Class Reference

Support for Quadcopter as a propulsion method. More...

#include <Quadcopter.h>

Inheritance diagram for Passer::RoboidControl::Quadcopter:

Public Member Functions
	Quadcopter ()
	Default constuctor.
virtual void	SetTwistSpeed (float forward, float yaw=0.0F) override
	Get the Placement of a specific Motor.
virtual void	SetTwistSpeed (Vector2 linear, float yaw=0.0F) override
	Sets the forward, sideward and rotation speed of a (grounded) Roboid.
virtual void	SetTwistSpeed (Vector3 linear, float yaw=0.0F, float pitch=0.0F, float roll=0.0F) override
	Set the target 3D linear and 3D rotation speed of a (flying) Roboid.
Vector3	GetTargetVelocity ()
float	GetYawSpeed ()
float	GetPitchSpeed ()
float	GetRollSpeed ()
void	Update (float currentTimeMs)
	Update the propulsion state of the Roboid.
unsigned int	GetMotorCount ()
	Get the number of motors in this roboid.
Motor *	GetMotor (unsigned int motorIx)
	Get a specific motor.
virtual void	SetVelocity (Polar velocity)
virtual Polar	GetVelocity ()
	Retrieve the current velocity of the roboid.
virtual float	GetAngularVelocity ()
	Retrieve the current angular velocity of the roboid.

Public Attributes
Roboid *	roboid = nullptr
	The roboid of this propulsion system.

Protected Attributes
Vector3	velocity = Vector3::zero
float	pitchSpeed = 0.0F
float	yawSpeed = 0.0F
float	rollSpeed = 0.0F
unsigned int	motorCount = 0
	The number of motors used for Propulsion.
Motor **	motors = nullptr
	The Placement of the motors used for Propulsion.

Detailed Description

Support for Quadcopter as a propulsion method.

Note

This is work in progress

Constructor & Destructor Documentation

Quadcopter()

Quadcopter::Quadcopter

(

)

Default constuctor.

Member Function Documentation

SetTwistSpeed() [1/3]

void Quadcopter::SetTwistSpeed ( float  forward, float  yaw = 0.0F  )

overridevirtual

Get the Placement of a specific Motor.

Parameters

motorIx

The index of the Motor

Returns

Returns the Placement or a nullptr when no Placement with the give index could be found

Sets the forward and rotation speed of a (grounded) Roboid

Parameters

forward	The target forward speed
yaw	The target rotation speed around the vertical axis This function is typically used for Roboid which are driving on the ground.

Reimplemented from Passer::RoboidControl::Propulsion.

SetTwistSpeed() [2/3]

void Quadcopter::SetTwistSpeed ( Vector2  linear, float  yaw = 0.0F  )

overridevirtual

Sets the forward, sideward and rotation speed of a (grounded) Roboid.

Parameters

linear	The target linear (forward, sideward) speed
yaw	The target rotation speed around the vertical axis This function is typically used for Roboid which are driving on the ground which have to ability to move sideward

Reimplemented from Passer::RoboidControl::Propulsion.

SetTwistSpeed() [3/3]

virtual void Passer::RoboidControl::Quadcopter::SetTwistSpeed ( Vector3  linear, float  yaw = 0.0F, float  pitch = 0.0F, float  roll = 0.0F  )

overridevirtual

Set the target 3D linear and 3D rotation speed of a (flying) Roboid.

Parameters

linear	The target linear speed
yaw	The target rotation speed around the vertical axis
pitch	The target rotation speed around the sideward axis
roll	The target rotation speed around hte forward axis

Reimplemented from Passer::RoboidControl::Propulsion.

GetTargetVelocity()

Vector3 Quadcopter::GetTargetVelocity

(

)

GetYawSpeed()

float Quadcopter::GetYawSpeed

(

)

GetPitchSpeed()

float Quadcopter::GetPitchSpeed

(

)

GetRollSpeed()

float Quadcopter::GetRollSpeed

(

)

Update()

void Propulsion::Update ( float  currentTimeMs )

inherited

Update the propulsion state of the Roboid.

Parameters

currentTimeMs

The time in milliseconds when calling this

GetMotorCount()

unsigned int Propulsion::GetMotorCount ( )

inherited

Get the number of motors in this roboid.

Returns

The number of motors. Zero when no motors are present

GetMotor()

Motor * Propulsion::GetMotor ( unsigned int  motorIx )

inherited

Get a specific motor.

Parameters

motorIx

The index of the motor

Returns

Returns the motor or a nullptr when no motor with the given index could be found

SetVelocity()

void Propulsion::SetVelocity ( Polar  velocity )

virtualinherited

Reimplemented in Passer::RoboidControl::DifferentialDrive.

GetVelocity()

Polar Propulsion::GetVelocity ( )

virtualinherited

Retrieve the current velocity of the roboid.

Returns

The velocity in polar coordinates The actual units of the velocity depend on the implementation

Reimplemented in Passer::RoboidControl::DifferentialDrive.

GetAngularVelocity()

float Propulsion::GetAngularVelocity ( )

virtualinherited

Retrieve the current angular velocity of the roboid.

Returns

The angular velocity The actual unit of the angular velocity depend on the implementation

Reimplemented in Passer::RoboidControl::DifferentialDrive.

Member Data Documentation

velocity

Vector3 Passer::RoboidControl::Quadcopter::velocity = Vector3::zero

protected

pitchSpeed

float Passer::RoboidControl::Quadcopter::pitchSpeed = 0.0F

protected

yawSpeed

float Passer::RoboidControl::Quadcopter::yawSpeed = 0.0F

protected

rollSpeed

float Passer::RoboidControl::Quadcopter::rollSpeed = 0.0F

protected

roboid

Roboid* Passer::RoboidControl::Propulsion::roboid = nullptr

inherited

The roboid of this propulsion system.

motorCount

unsigned int Passer::RoboidControl::Propulsion::motorCount = 0

protectedinherited

The number of motors used for Propulsion.

motors

Motor** Passer::RoboidControl::Propulsion::motors = nullptr

protectedinherited

The Placement of the motors used for Propulsion.

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

• d:/PlatformIO/RoboidControl/Quadcopter.h
• d:/PlatformIO/RoboidControl/Quadcopter.cpp