Ports

gps (out)

Data structure

  • struct ::or_pose_estimator::state gps

    • struct ::or::time::ts ts

      • unsigned long sec

      • unsigned long nsec

    • boolean intrinsic

    • optional< struct ::or::t3d::pos > pos

      • double x

      • double y

      • double z

      • double qw

      • double qx

      • double qy

      • double qz

    • optional< struct ::or::t3d::pos_cov > pos_cov

      • double cov[28]

    • optional< struct ::or::t3d::vel > vel

      • double vx

      • double vy

      • double vz

      • double wx

      • double wy

      • double wz

    • optional< struct ::or::t3d::vel_cov > vel_cov

      • double cov[21]

    • optional< struct ::or::t3d::acc > acc

      • double ax

      • double ay

      • double az

    • optional< struct ::or::t3d::acc_cov > acc_cov

      • double cov[6]

state (out)

Data structure

  • struct ::or_pose_estimator::state state

    • struct ::or::time::ts ts

      • unsigned long sec

      • unsigned long nsec

    • boolean intrinsic

    • optional< struct ::or::t3d::pos > pos

      • double x

      • double y

      • double z

      • double qw

      • double qx

      • double qy

      • double qz

    • optional< struct ::or::t3d::pos_cov > pos_cov

      • double cov[28]

    • optional< struct ::or::t3d::vel > vel

      • double vx

      • double vy

      • double vz

      • double wx

      • double wy

      • double wz

    • optional< struct ::or::t3d::vel_cov > vel_cov

      • double cov[21]

    • optional< struct ::or::t3d::acc > acc

      • double ax

      • double ay

      • double az

    • optional< struct ::or::t3d::acc_cov > acc_cov

      • double cov[6]

Services

set_gps_period (attribute)

Inputs

  • double gpsp

set_external_disturbance (attribute)

Inputs

  • struct ::mrsim::ids::disturb_s disturb

    • struct ::or::rb3d::force force

      • double x

      • double y

      • double z

    • struct ::or::rb3d::torque torque

      • double x

      • double y

      • double z

    • double zmin

    • double zmax

    • double noise

    • double period

Define artificial external disturbance

The disturbance is defined in term of a force and torque applied to the center of mass. The perturbation is only active inside a given altitude band between zmin and zmax and its amplitude follows a sinusoid between 0 and force or torque at the desired period (set it to zero for a constant amplitude). Finally, an additive gaussian noise of standard deviation noise is applied.

get_external_disturbance (attribute)

Outputs

  • struct ::mrsim::ids::disturb_s disturb

    • struct ::or::rb3d::force force

      • double x

      • double y

      • double z

    • struct ::or::rb3d::torque torque

      • double x

      • double y

      • double z

    • double zmin

    • double zmax

    • double noise

    • double period

set_pty (activity)

Inputs

  • string<64> device
Throws

  • exception ::mrsim::e_sys

    • short code

    • string<128> what
Context

Set pty path

set_state (activity)

Inputs

  • double x

  • double y

  • double z

  • double yaw

  • double pitch

  • double roll

  • double vx

  • double vy

  • double vz

  • double wx

  • double wy

  • double wz
Context

Set current state

Tasks

main

Context

read

Context

  • Free running