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/****************************************************************************
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* |
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* Copyright (c) 2017 PX4 Development Team. All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/**
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* @file TranslationControl.cpp |
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* |
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*/ |
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#include "TranslationControl.hpp" |
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#include <float.h> |
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#include <mathlib/mathlib.h> |
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using namespace matrix; |
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using Data = matrix::Vector3f; |
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TranslationControl::TranslationControl() |
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{ |
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}; |
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void TranslationControl::updateState(struct vehicle_local_position_s state) |
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{ |
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_pos = Data(&state.x); |
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_vel = Data(&state.vx); |
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_pos.print(); |
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} |
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void TranslationControl::updateSetpoint(struct vehicle_local_position_setpoint_s setpoint) |
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{ |
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_pos_sp = Data(&setpoint.x); |
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_vel_sp = Data(&setpoint.vx); |
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_acc_sp = Data(&setpoint.acc_x); |
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_yaw_sp = setpoint.yaw; |
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_yawspeed_sp = setpoint.yawspeed; |
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} |
@ -0,0 +1,73 @@ |
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/****************************************************************************
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* |
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* Copyright (c) 2017 PX4 Development Team. All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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|
* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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|
* 1. Redistributions of source code must retain the above copyright |
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|
* notice, this list of conditions and the following disclaimer. |
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|
* 2. Redistributions in binary form must reproduce the above copyright |
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|
* notice, this list of conditions and the following disclaimer in |
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|
* the documentation and/or other materials provided with the |
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|
* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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|
* used to endorse or promote products derived from this software |
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|
* without specific prior written permission. |
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|
* |
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|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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|
* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/**
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* @file TranslationControl.hpp |
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* |
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* @inputs: position-, velocity-, acceleration-, thrust- setpoints |
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* @outputs: thrust vector |
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* |
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*/ |
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#include <matrix/matrix/math.hpp> |
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#include <uORB/topics/vehicle_local_position.h> |
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#include <uORB/topics/vehicle_local_position_setpoint.h> |
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#pragma once |
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class TranslationControl |
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{ |
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public: |
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TranslationControl(); |
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~TranslationControl() {}; |
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void updateState(struct vehicle_local_position_s state); |
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void updateSetpoint(struct vehicle_local_position_setpoint_s setpoint); |
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private: |
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matrix::Vector3f _pos{0.0f, 0.0f, 0.0f}; |
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matrix::Vector3f _vel{0.0f, 0.0f, 0.0f}; |
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matrix::Vector3f _acc{0.0f, 0.0f, 0.0f}; |
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matrix::Vector3f _thr{0.0f, 0.0f, 0.0f}; |
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float _yaw{0.0f}; |
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matrix::Vector3f _pos_sp{0.0f, 0.0f, 0.0f}; |
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matrix::Vector3f _vel_sp{0.0f, 0.0f, 0.0f}; |
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matrix::Vector3f _acc_sp{0.0f, 0.0f, 0.0f}; |
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matrix::Vector3f _thr_sp{0.0f, 0.0f, 0.0f}; |
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float _yaw_sp{0.0f}; |
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float _yawspeed_sp{0.0f}; |
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}; |
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