Address review comment

ethz-asl · Jul 22, 2021 · 2ff71a7 · 2ff71a7
1 parent 50bd264
commit 2ff71a7
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Showing 3 changed files with 9 additions and 25 deletions.
diff --git a/include/aero_parameters.h b/include/aero_parameters.h
@@ -129,11 +129,6 @@ struct RotorParameters {
     double vertical_rot_drag_lin{0.07444735702448266};
     double vertical_rot_thrust_lin{-0.0017229667485354344};
     double vertical_rot_thrust_quad{4.0095427586089745};
-    double c_m_leaver_quad{0.0};
-    double c_m_leaver_lin{0.0};
-    double c_m_drag_z_quad{0.0};
-    double c_m_drag_z_lin{0.0};
-    double c_m_rolling{0.0};
 };
 struct FWAerodynamicParameters {
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
@@ -166,11 +161,6 @@ struct FWAerodynamicParameters {
   double vertical_rot_drag_lin{0.07444735702448266};
   double vertical_rot_thrust_lin{-0.0017229667485354344};
   double vertical_rot_thrust_quad{4.0095427586089745};
-  double vertical_c_m_drag_z_lin{-10.324851252250626};
-  double vertical_c_m_drag_z_quad{6.0213939854338685};
-  double vertical_c_m_leaver_lin{-8.33722923229799};
-  double vertical_c_m_leaver_quad{32.623014913712176};
-  double vertical_c_m_rolling{-1.467193735480539};
 
   double alpha_max;
   double alpha_min;
@@ -218,12 +208,6 @@ struct FWAerodynamicParameters {
     READ_PARAM(coefficients, vertical_rot_drag_lin);
     READ_PARAM(coefficients, vertical_rot_thrust_lin);
     READ_PARAM(coefficients, vertical_rot_thrust_quad);
-    READ_PARAM(coefficients, vertical_c_m_leaver_lin);
-    READ_PARAM(coefficients, vertical_c_m_drag_z_lin);
-    READ_PARAM(coefficients, vertical_c_m_drag_z_quad);
-    READ_PARAM(coefficients, vertical_c_m_leaver_lin);
-    READ_PARAM(coefficients, vertical_c_m_leaver_quad);
-    READ_PARAM(coefficients, vertical_c_m_rolling);
 
     const YAML::Node configs = node["model"];
     /// TODO: iterate through yaml files and append rotor elements to model

diff --git a/include/parametric_dynamics_model.h b/include/parametric_dynamics_model.h
@@ -50,7 +50,7 @@ class ParametricDynamicsModel {
     };
 
   private:
-    void computeRotorFeatures(const Eigen::Vector3d airspeed, const Eigen::VectorXd &actuator_inputs, Eigen::Vector3d &rotor_force, Eigen::Vector3d &rotor_moment);    Eigen::Vector3d computeRotorForce(const Eigen::Vector3d airspeed, const double actuator_input, const RotorParameters &rotor_params);
+    void computeTotalRotorWrench(const Eigen::Vector3d airspeed, const Eigen::VectorXd &actuator_inputs, Eigen::Vector3d &rotor_force, Eigen::Vector3d &rotor_moment);    Eigen::Vector3d computeRotorForce(const Eigen::Vector3d airspeed, const double actuator_input, const RotorParameters &rotor_params);
     Eigen::Vector3d computeRotorMoment(const Eigen::Vector3d airspeed, const double actuator_input, const RotorParameters &rotor_params, Eigen::Vector3d rotor_force);
     Eigen::Vector3d force_{Eigen::Vector3d::Zero()};
     Eigen::Vector3d moment_{Eigen::Vector3d::Zero()};

diff --git a/src/parametric_dynamics_model.cpp b/src/parametric_dynamics_model.cpp
@@ -42,14 +42,14 @@ void ParametricDynamicsModel::setState(const ignition::math::Vector3d &B_air_spe
 
   Eigen::Vector3d force_rotor_B{Eigen::Vector3d::Zero()};
   Eigen::Vector3d moment_rotor_B{Eigen::Vector3d::Zero()};
-  computeRotorFeatures(ignition2eigen(B_air_speed_W_B), actuator_inputs, force_rotor_B, moment_rotor_B);
+  computeTotalRotorWrench(ignition2eigen(B_air_speed_W_B), actuator_inputs, force_rotor_B, moment_rotor_B);
 
   // Transform all the forces and moments into the body frame
   force_ = force_rotor_B;
   moment_ = moment_rotor_B;
 }
 
-void ParametricDynamicsModel::computeRotorFeatures(const Eigen::Vector3d airspeed, const Eigen::VectorXd &actuator_inputs, Eigen::Vector3d &rotor_force, Eigen::Vector3d &rotor_moment) {
+void ParametricDynamicsModel::computeTotalRotorWrench(const Eigen::Vector3d airspeed, const Eigen::VectorXd &actuator_inputs, Eigen::Vector3d &rotor_force, Eigen::Vector3d &rotor_moment) {
 
      rotor_force = Eigen::Vector3d::Zero();
      rotor_moment = Eigen::Vector3d::Zero();
@@ -86,12 +86,12 @@ Eigen::Vector3d ParametricDynamicsModel::computeRotorForce(const Eigen::Vector3d
 Eigen::Vector3d ParametricDynamicsModel::computeRotorMoment(const Eigen::Vector3d airspeed, const double actuator_input, const RotorParameters &rotor_params, Eigen::Vector3d rotor_force) {
 
      // Thrust force computation
-     const double prop_diameter = rotor_params.diameter;
-     const double c_m_leaver_quad = rotor_params.c_m_leaver_quad;
-     const double c_m_leaver_lin = rotor_params.c_m_leaver_lin;
-     const double c_m_drag_z_quad = rotor_params.c_m_drag_z_quad;
-     const double c_m_drag_z_lin = rotor_params.c_m_drag_z_lin;
-     const double c_m_rolling = rotor_params.c_m_rolling;
+     // const double prop_diameter = rotor_params.diameter;
+     // const double c_m_leaver_quad = rotor_params.c_m_leaver_quad;
+     // const double c_m_leaver_lin = rotor_params.c_m_leaver_lin;
+     // const double c_m_drag_z_quad = rotor_params.c_m_drag_z_quad;
+     // const double c_m_drag_z_lin = rotor_params.c_m_drag_z_lin;
+     // const double c_m_rolling = rotor_params.c_m_rolling;
 
      Eigen::Vector3d rotor_axis = (rotor_params.rotor_axis).normalized();
      Eigen::Vector3d rotor_position = rotor_params.position;