Types.h File Reference

#include <cmath>
#include <eigen3/Eigen/Core>
#include <eigen3/Eigen/Geometry>
#include <bb_controls_msgs/msg/thruster_forces.hpp>
#include <geometry_msgs/msg/pose_array.hpp>
#include <geometry_msgs/msg/twist_stamped.hpp>
#include <geometry_msgs/msg/wrench_stamped.hpp>
#include <nav_msgs/msg/odometry.hpp>
#include <optional>

Go to the source code of this file.

Classes
struct	Pose
	6DOF rigid-body pose as a 3D position and unit quaternion orientation More...
struct	State
	Full kinematic state of the vehicle. More...
struct	DebugMessage
	Aggregates optional debug data produced each control-loop tick. More...

Typedefs
using	Matrix4d = Eigen::Matrix< double, 4, 4 >
using	Matrix6d = Eigen::Matrix< double, 6, 6 >
using	Vector4d = Eigen::Matrix< double, 4, 1 >
using	Vector6d = Eigen::Matrix< double, 6, 1 >
using	Vector18d = Eigen::Matrix< double, 18, 1 >
using	Array6d = Eigen::Array< double, 6, 1 >

Variables
constexpr double	RAD2DEG = 180.0 / M_PI
constexpr double	DEG2RAD = M_PI / 180.0
constexpr double	M_2PI = 2.0 * M_PI

Typedef Documentation

Array6d

using Array6d = Eigen::Array<double, 6, 1>

Matrix4d

using Matrix4d = Eigen::Matrix<double, 4, 4>

Matrix6d

using Matrix6d = Eigen::Matrix<double, 6, 6>

Vector18d

using Vector18d = Eigen::Matrix<double, 18, 1>

Vector4d

using Vector4d = Eigen::Matrix<double, 4, 1>

Vector6d

using Vector6d = Eigen::Matrix<double, 6, 1>

Variable Documentation

DEG2RAD

constexpr double DEG2RAD = M_PI / 180.0

constexpr

M_2PI

constexpr double M_2PI = 2.0 * M_PI

constexpr

RAD2DEG

constexpr double RAD2DEG = 180.0 / M_PI

constexpr