Public API

[varunagrawal]

This PR puts all functions in the public scope so an end-user can access various properties of the simulator (such as force and torque).

[varunagrawal]

The hope is that this makes its way into FlightGoggles so that more data can be mined from the simulator.

[eatal]

Hi @varunagrawal,
Thanks for the pull request. I think it's a good idea to make more vehicle state information available. We can add some new public functions for this.

The private functions that you made public require arguments. (They were written to handle internal computations using intermediate results.) This is inconvenient for public facing functions, which should just use the current vehicle state.

Can you tell me a bit more on how you are using these functions? For example, it seems like external use of getAttitudeDerivative would be better served by the existing public function getVehicleAngularVelocity.

Ezra

[varunagrawal]

Hi @eatal. I'm really sorry for the late response. After spending some more time with the code, I have come to understand why some of those functions should and don't need to be exposed. I'll update this PR.

[varunagrawal]

@eatal one of my primary use-cases was to get the force and torque acting on the quadrotor at any point, since I could compare those forces as ground truth. Do you think there is a clean way to do that?