Ejemplos de GetVehicleParameters en C++ (Cpp)

Ejemplo n.º 1

Archivo: roll_pitch_yawrate_thrust_controller_node.cpp Proyecto: Aevena/rotors_simulator

void RollPitchYawrateThrustControllerNode::InitializeParams() {
  ros::NodeHandle pnh("~");

  // Read parameters from rosparam.
  GetRosParameter(pnh, "attitude_gain/x",
                  roll_pitch_yawrate_thrust_controller_.controller_parameters_.attitude_gain_.x(),
                  &roll_pitch_yawrate_thrust_controller_.controller_parameters_.attitude_gain_.x());
  GetRosParameter(pnh, "attitude_gain/y",
                  roll_pitch_yawrate_thrust_controller_.controller_parameters_.attitude_gain_.y(),
                  &roll_pitch_yawrate_thrust_controller_.controller_parameters_.attitude_gain_.y());
  GetRosParameter(pnh, "attitude_gain/z",
                  roll_pitch_yawrate_thrust_controller_.controller_parameters_.attitude_gain_.z(),
                  &roll_pitch_yawrate_thrust_controller_.controller_parameters_.attitude_gain_.z());
  GetRosParameter(pnh, "angular_rate_gain/x",
                  roll_pitch_yawrate_thrust_controller_.controller_parameters_.angular_rate_gain_.x(),
                  &roll_pitch_yawrate_thrust_controller_.controller_parameters_.angular_rate_gain_.x());
  GetRosParameter(pnh, "angular_rate_gain/y",
                  roll_pitch_yawrate_thrust_controller_.controller_parameters_.angular_rate_gain_.y(),
                  &roll_pitch_yawrate_thrust_controller_.controller_parameters_.angular_rate_gain_.y());
  GetRosParameter(pnh, "angular_rate_gain/z",
                  roll_pitch_yawrate_thrust_controller_.controller_parameters_.angular_rate_gain_.z(),
                  &roll_pitch_yawrate_thrust_controller_.controller_parameters_.angular_rate_gain_.z());
  GetVehicleParameters(pnh, &roll_pitch_yawrate_thrust_controller_.vehicle_parameters_);
  roll_pitch_yawrate_thrust_controller_.InitializeParameters();
}

Ejemplo n.º 2

Archivo: lee_position_controller_node.cpp Proyecto: jenke-gpfw/rotors_simulator

void LeePositionControllerNode::InitializeParams() {
    ros::NodeHandle pnh("~");

    // Read parameters from rosparam.
    GetRosParameter(pnh, "position_gain/x",
                    lee_position_controller_.controller_parameters_.position_gain_.x(),
                    &lee_position_controller_.controller_parameters_.position_gain_.x());
    GetRosParameter(pnh, "position_gain/y",
                    lee_position_controller_.controller_parameters_.position_gain_.y(),
                    &lee_position_controller_.controller_parameters_.position_gain_.y());
    GetRosParameter(pnh, "position_gain/z",
                    lee_position_controller_.controller_parameters_.position_gain_.z(),
                    &lee_position_controller_.controller_parameters_.position_gain_.z());
    GetRosParameter(pnh, "velocity_gain/x",
                    lee_position_controller_.controller_parameters_.velocity_gain_.x(),
                    &lee_position_controller_.controller_parameters_.velocity_gain_.x());
    GetRosParameter(pnh, "velocity_gain/y",
                    lee_position_controller_.controller_parameters_.velocity_gain_.y(),
                    &lee_position_controller_.controller_parameters_.velocity_gain_.y());
    GetRosParameter(pnh, "velocity_gain/z",
                    lee_position_controller_.controller_parameters_.velocity_gain_.z(),
                    &lee_position_controller_.controller_parameters_.velocity_gain_.z());
    GetRosParameter(pnh, "attitude_gain/x",
                    lee_position_controller_.controller_parameters_.attitude_gain_.x(),
                    &lee_position_controller_.controller_parameters_.attitude_gain_.x());
    GetRosParameter(pnh, "attitude_gain/y",
                    lee_position_controller_.controller_parameters_.attitude_gain_.y(),
                    &lee_position_controller_.controller_parameters_.attitude_gain_.y());
    GetRosParameter(pnh, "attitude_gain/z",
                    lee_position_controller_.controller_parameters_.attitude_gain_.z(),
                    &lee_position_controller_.controller_parameters_.attitude_gain_.z());
    GetRosParameter(pnh, "angular_rate_gain/x",
                    lee_position_controller_.controller_parameters_.angular_rate_gain_.x(),
                    &lee_position_controller_.controller_parameters_.angular_rate_gain_.x());
    GetRosParameter(pnh, "angular_rate_gain/y",
                    lee_position_controller_.controller_parameters_.angular_rate_gain_.y(),
                    &lee_position_controller_.controller_parameters_.angular_rate_gain_.y());
    GetRosParameter(pnh, "angular_rate_gain/z",
                    lee_position_controller_.controller_parameters_.angular_rate_gain_.z(),
                    &lee_position_controller_.controller_parameters_.angular_rate_gain_.z());
    GetVehicleParameters(pnh, &lee_position_controller_.vehicle_parameters_);
    lee_position_controller_.InitializeParameters();
}