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); }