Esempio n. 1
0
    void
    UAVSimulation::setVelocity(const DUNE::Math::Matrix& vel)
    {
      int i_vel_size = vel.rows();
      if (i_vel_size < 2 && i_vel_size > 6)
        throw Error("Invalid velocity vector dimension. Vector size must be between 2 and 6.");

      //! Vehicle velocity vector, relative to the ground, in the ground reference frame
      m_velocity.set(0, i_vel_size-1, 0, 0, vel);

      calcUAV2AirData();
    }
Esempio n. 2
0
    void
    UAVSimulation::setPosition(const DUNE::Math::Matrix& pos)
    {
      int i_pos_size = pos.rows();
      if (i_pos_size < 2 && i_pos_size > 6)
        throw Error("Invalid position vector dimension. Vector size must be between 2 and 6.");

      //! Vehicle position
      m_position.set(0, i_pos_size-1, 0, 0, pos);
      //! Simulation variables
      m_cos_course = std::cos(m_position(5));
      m_sin_course = std::sin(m_position(5));
      m_cos_pitch = std::cos(m_position(4));
      m_sin_pitch = std::sin(m_position(4));
      m_cos_roll = std::cos(m_position(3));
      m_sin_roll = std::sin(m_position(3));
    }
Esempio n. 3
0
File: UAV.cpp Progetto: HSOFEUP/dune
    void
    UAVSimulation::setVelocity(const DUNE::Math::Matrix& vel)
    {
      int i_vel_size = vel.rows();
      if (i_vel_size < 2 && i_vel_size > 6)
        throw Error("Invalid velocity vector dimension. Vector size must be between 2 and 6.");

      //! Vehicle velocity vector, relative to the ground, in the ground reference frame
      m_velocity.set(0, i_vel_size-1, 0, 0, vel);
      // Reset the vertical velocity for the simulations that do not update it
      if (m_sim_type.compare("3DOF") == 0 || m_sim_type.compare("4DOF_bank") == 0)
        m_velocity(2) = 0;
      // Reset the pitch angular rate for the simulations that do not update it
      if (m_sim_type.compare("6DOF_dyn") != 0)
        m_velocity(4) = 0;

      calcUAV2AirData();
    }
Esempio n. 4
0
File: UAV.cpp Progetto: HSOFEUP/dune
    void
    UAVSimulation::setPosition(const DUNE::Math::Matrix& pos)
    {
      int i_pos_size = pos.rows();
      if (i_pos_size < 2 && i_pos_size > 6)
        throw Error("Invalid position vector dimension. Vector size must be between 2 and 6.");

      // Vehicle position
      m_position.set(0, i_pos_size-1, 0, 0, pos);
      // Reset the pitch angle for the simulations that do not update it
      if (m_sim_type.compare("3DOF") == 0 || m_sim_type.compare("4DOF_bank") == 0)
        m_position(4) = 0;
      // Simulation variables
      m_cos_course = std::cos(m_position(5));
      m_sin_course = std::sin(m_position(5));
      m_cos_pitch = std::cos(m_position(4));
      m_sin_pitch = std::sin(m_position(4));
      m_cos_roll = std::cos(m_position(3));
      m_sin_roll = std::sin(m_position(3));
    }