rm::para::GravityCompensatorParam结构体 参考

GravityCompensatorParam 参数模块 更多...

#include <rmvlpara/compensator/gravity_compensator.h>

rm::para::GravityCompensatorParam 的协作图:

Public 成员函数
bool	load (const std::string &path)
	从指定 YAML 文件中加载 GravityCompensatorParam

Public 属性
double	g = 9.788
	重力加速度，单位m/s^2
double	m = 0.041
	质量，单位kg
double	rho = 1.29
	空气密度，单位kg/m^3
double	A = 1.4186e-3
	参考面积，单位m^2
double	V = 4.0194e-5
	体积，单位m^3
double	Cd = 0.26
	阻力系数
double	Cl = 0.2
	升力系数
double	h = 0.02
	龙格库塔迭代步长
size_t	MAX_COM = 100
	最大补偿步进
float	YAW_COMPENSATE = 0
	yaw静态补偿(相机比测速模块高出的角度)
float	PITCH_COMPENSATE = 0
	pitch静态补偿(相机比测速模块高出的角度)
float	MINIMUM_COM = 0.5
	手动补偿最小步进

详细描述

GravityCompensatorParam 参数模块

成员函数说明

load()

bool rm::para::GravityCompensatorParam::load

(

const std::string &

path

)

从指定 YAML 文件中加载 GravityCompensatorParam

注解

YAML 文件的后缀允许是 *.yml 和 *.yaml

参数

[in]

path

参数路径

返回

是否加载成功

类成员变量说明

A

double rm::para::GravityCompensatorParam::A = 1.4186e-3

参考面积，单位m^2

Cd

double rm::para::GravityCompensatorParam::Cd = 0.26

阻力系数

Cl

double rm::para::GravityCompensatorParam::Cl = 0.2

升力系数

g

double rm::para::GravityCompensatorParam::g = 9.788

重力加速度，单位m/s^2

h

double rm::para::GravityCompensatorParam::h = 0.02

龙格库塔迭代步长

m

double rm::para::GravityCompensatorParam::m = 0.041

质量，单位kg

MAX_COM

size_t rm::para::GravityCompensatorParam::MAX_COM = 100

最大补偿步进

MINIMUM_COM

float rm::para::GravityCompensatorParam::MINIMUM_COM = 0.5

手动补偿最小步进

PITCH_COMPENSATE

float rm::para::GravityCompensatorParam::PITCH_COMPENSATE = 0

pitch静态补偿(相机比测速模块高出的角度)

rho

double rm::para::GravityCompensatorParam::rho = 1.29

空气密度，单位kg/m^3

V

double rm::para::GravityCompensatorParam::V = 4.0194e-5

体积，单位m^3

YAW_COMPENSATE

float rm::para::GravityCompensatorParam::YAW_COMPENSATE = 0

yaw静态补偿(相机比测速模块高出的角度)

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该结构体的文档由以下文件生成:

• rmvlpara/compensator/gravity_compensator.h