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[Aerial Robot Model][Underactuated][Plugin] fix the wrong args assignment for model constructor #561

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Oct 11, 2023
Merged

[Aerial Robot Model][Underactuated][Plugin] fix the wrong args assignment for model constructor #561

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7daa2d8
[Aerial Robot Model][Underactuated][Plugin] fix the wrong args assign…
tongtybj Oct 8, 2023
cc6f33b
[Aerial Robot Model][Underactuated] use transformable model for planning
tongtybj Oct 8, 2023
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2 changes: 1 addition & 1 deletion aerial_robot_model/src/model/plugin/multirotor_robot_model.cpp
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Expand Up @@ -36,7 +36,7 @@
#include <aerial_robot_model/model/plugin/multirotor_robot_model.h>

MultirotorRobotModel::MultirotorRobotModel(bool init_with_rosparam, bool verbose, double fc_t_min_thre, double epsilon):
RobotModel(init_with_rosparam, verbose, 0, fc_t_min_thre, epsilon)
RobotModel(init_with_rosparam, verbose, true, 0, fc_t_min_thre, epsilon)
{
}

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2 changes: 1 addition & 1 deletion aerial_robot_model/src/model/plugin/underactuated_tilted_robot_model.cpp
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Expand Up @@ -36,7 +36,7 @@
#include <aerial_robot_model/model/plugin/underactuated_tilted_robot_model.h>

UnderactuatedTiltedRobotModel::UnderactuatedTiltedRobotModel(bool init_with_rosparam, bool verbose, double fc_t_min_thre, double epsilon):
RobotModel(init_with_rosparam, verbose, fc_t_min_thre, 0, epsilon)
RobotModel(init_with_rosparam, verbose, true, 0, fc_t_min_thre, epsilon)
{

// calc static thrust
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2 changes: 1 addition & 1 deletion robots/dragon/include/dragon/control/full_vectoring_control.h
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Expand Up @@ -74,7 +74,7 @@ namespace aerial_robot_control
ros::Publisher interfrence_marker_pub_;

boost::shared_ptr<Dragon::FullVectoringRobotModel> dragon_robot_model_;
boost::shared_ptr<aerial_robot_model::RobotModel> robot_model_for_control_;
boost::shared_ptr<aerial_robot_model::transformable::RobotModel> robot_model_for_control_;
std::vector<float> target_base_thrust_;
std::vector<double> target_gimbal_angles_;
Eigen::VectorXd target_vectoring_f_;
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4 changes: 2 additions & 2 deletions robots/dragon/include/dragon/model/full_vectoring_robot_model.h
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Expand Up @@ -55,7 +55,7 @@ namespace Dragon
virtual ~FullVectoringRobotModel() = default;


inline boost::shared_ptr<aerial_robot_model::RobotModel> getRobotModelForPlan() { return robot_model_for_plan_;}
inline boost::shared_ptr<aerial_robot_model::transformable::RobotModel> getRobotModelForPlan() { return robot_model_for_plan_;}
inline const Eigen::VectorXd& getHoverVectoringF() const {return hover_vectoring_f_;}

const std::vector<int> getRollLockedGimbal()
Expand Down Expand Up @@ -88,7 +88,7 @@ namespace Dragon

private:

boost::shared_ptr<aerial_robot_model::RobotModel> robot_model_for_plan_;
boost::shared_ptr<aerial_robot_model::transformable::RobotModel> robot_model_for_plan_;

Eigen::VectorXd hover_vectoring_f_;

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2 changes: 1 addition & 1 deletion robots/dragon/src/control/full_vectoring_control.cpp
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Expand Up @@ -18,7 +18,7 @@ void DragonFullVectoringController::initialize(ros::NodeHandle nh, ros::NodeHand
rosParamInit();

dragon_robot_model_ = boost::dynamic_pointer_cast<Dragon::FullVectoringRobotModel>(robot_model);
robot_model_for_control_ = boost::make_shared<aerial_robot_model::RobotModel>();
robot_model_for_control_ = boost::make_shared<aerial_robot_model::transformable::RobotModel>();

/* initialize the gimbal target angles */
target_base_thrust_.resize(motor_num_);
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2 changes: 1 addition & 1 deletion robots/dragon/src/model/full_vectoring_robot_model.cpp
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Expand Up @@ -82,7 +82,7 @@ FullVectoringRobotModel::FullVectoringRobotModel(bool init_with_rosparam, bool v
gimbal_roll_origin_from_cog_.resize(rotor_num);
setGimbalNominalAngles(std::vector<double>(0)); // for online initialize

robot_model_for_plan_ = boost::make_shared<aerial_robot_model::RobotModel>();
robot_model_for_plan_ = boost::make_shared<aerial_robot_model::transformable::RobotModel>();

if(debug_verbose_)
{
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