public bool configure(NodeHandle param)
{
// get model parameters
if (!param.getParam("C_wxy", ref drag_model_.parameters_.C_wxy))
{
return(false);
}
if (!param.getParam("C_wz", ref drag_model_.parameters_.C_wz))
{
return(false);
}
if (!param.getParam("C_mxy", ref drag_model_.parameters_.C_mxy))
{
return(false);
}
if (!param.getParam("C_mz", ref drag_model_.parameters_.C_mz))
{
return(false);
}
// #ifndef NDEBUG
// std::cout << "Loaded the following quadrotor drag model parameters from namespace " << param.getNamespace() << ":" << std::endl;
// std::cout << "C_wxy = " << drag_model_.parameters_.C_wxy << std::endl;
// std::cout << "C_wz = " << drag_model_.parameters_.C_wz << std::endl;
// std::cout << "C_mxy = " << drag_model_.parameters_.C_mxy << std::endl;
// std::cout << "C_mz = " << drag_model_.parameters_.C_mz << std::endl;
// #endif
reset();
return(true);
}
bool configure(NodeHandle param)
{
// get model parameters
if (!param.getParam("k_m", ref propulsion_model_.parameters_.k_m))
{
return(false);
}
if (!param.getParam("k_t", ref propulsion_model_.parameters_.k_t))
{
return(false);
}
if (!param.getParam("CT0s", ref propulsion_model_.parameters_.CT0s))
{
return(false);
}
if (!param.getParam("CT1s", ref propulsion_model_.parameters_.CT1s))
{
return(false);
}
if (!param.getParam("CT2s", ref propulsion_model_.parameters_.CT2s))
{
return(false);
}
if (!param.getParam("J_M", ref propulsion_model_.parameters_.J_M))
{
return(false);
}
if (!param.getParam("l_m", ref propulsion_model_.parameters_.l_m))
{
return(false);
}
if (!param.getParam("Psi", ref propulsion_model_.parameters_.Psi))
{
return(false);
}
if (!param.getParam("R_A", ref propulsion_model_.parameters_.R_A))
{
return(false);
}
if (!param.getParam("alpha_m", ref propulsion_model_.parameters_.alpha_m))
{
return(false);
}
if (!param.getParam("beta_m", ref propulsion_model_.parameters_.beta_m))
{
return(false);
}
// #ifndef NDEBUG
// std::cout << "Loaded the following quadrotor propulsion model parameters from namespace " << param.getNamespace() << ":" << std::endl;
// std::cout << "k_m = " << propulsion_model_.parameters_.k_m << std::endl;
// std::cout << "k_t = " << propulsion_model_.parameters_.k_t << std::endl;
// std::cout << "CT2s = " << propulsion_model_.parameters_.CT2s << std::endl;
// std::cout << "CT1s = " << propulsion_model_.parameters_.CT1s << std::endl;
// std::cout << "CT0s = " << propulsion_model_.parameters_.CT0s << std::endl;
// std::cout << "Psi = " << propulsion_model_.parameters_.Psi << std::endl;
// std::cout << "J_M = " << propulsion_model_.parameters_.J_M << std::endl;
// std::cout << "R_A = " << propulsion_model_.parameters_.R_A << std::endl;
// std::cout << "l_m = " << propulsion_model_.parameters_.l_m << std::endl;
// std::cout << "alpha_m = " << propulsion_model_.parameters_.alpha_m << std::endl;
// std::cout << "beta_m = " << propulsion_model_.parameters_.beta_m << std::endl;
// #endif
initial_voltage_ = 14.8;
param.getParam("supply_voltage", ref initial_voltage_);
reset();
return(true);
}
