Eigen
Dependencies: Eigen
Dependents: optWingforHAPS_Eigen
Diff: Autopilot.hpp
- Revision:
- 15:28f480b41553
- Parent:
- 14:7b6c3f8b85fb
- Child:
- 17:598522e1bf4f
diff -r 7b6c3f8b85fb -r 28f480b41553 Autopilot.hpp --- a/Autopilot.hpp Wed Dec 01 11:51:21 2021 +0000 +++ b/Autopilot.hpp Mon Dec 06 08:23:54 2021 +0000 @@ -3,11 +3,18 @@ #include "mbed.h" #include "Vector3.hpp" -#include "Matrix.h" +#include <Eigen/Core.h> #include <cmath> -#define M_PI 3.141592f +using namespace Eigen; + +#ifndef M_PI_F +#define M_PI_F 3.141592f +#endif + +#ifndef G #define G 9.8f +#endif class Autopilot { @@ -18,14 +25,14 @@ float yaw; float alt; float alt_before; - Vector3 pos_ned; - Vector3 pos_before; - Vector3 vel_ned; //対地速度 - Vector3 vel_before; + Vector3f pos_ned; + Vector3f pos_before; + Vector3f vel_ned; //対地速度 + Vector3f vel_before; //算出値 float path_ang; //経路角 - Vector3 vdot; + Vector3f vdot; //目標値 float roll_obj; @@ -37,8 +44,8 @@ float path_obj; float vdot_obj; - Vector3 destination; //誘導地点NED座標 - Vector3 turn_center; //旋回中心NED座標 + Vector3f destination; //誘導地点NED座標 + Vector3f turn_center; //旋回中心NED座標 float turn_r; //旋回半径 void limit_obj(); @@ -56,7 +63,7 @@ void set_alt(float alt, float vel); //高度,速度の設定 void set_climb(float path_angle, float vdot); //経路角,加速度の設定 - void update_val(const Vector3 rpy, const float altitude, const Matrix pos, const Matrix vel, const Vector3 v_dot); //姿勢角等の更新 + void update_val(const Vector3f rpy, const float altitude, const Vector3f pos, const Vector3f vel, const Vector3f v_dot); //姿勢角等の更新 void level(); //水平飛行 void guide(); //定点誘導