#include <airbase.h>

Inheritance diagram for gcop::Airbase:

Collaboration diagram for gcop::Airbase:

Public Member Functions
	Airbase (int nb, int j)
	nb number of bodies ///<j number of joints
void	Force (VectorXd &f, double t, const MbsState &x, const VectorXd &u, MatrixXd A=0, MatrixXd B=0)

Detailed Description

A quadrotor based mbs model.

The state is $\bf x = (R, x, \omega, v)$ where $(R,x)\in SO(3)\times\mathbb{R}^3$ is the pose, and the controls are $\bm u = (u_1,u_2,u_3,u_4)$ correspond to torques around the body and a vertical lift force.

Author: Marin Kobilarov marin(at)jhu.edu

Constructor & Destructor Documentation

Airbase::Airbase	(	int	nb,
		int	j
	)

nb number of bodies ///<j number of joints

Member Function Documentation

void Airbase::Force	(	VectorXd &	f,
		double	t,
		const MbsState &	x,
		const VectorXd &	u,
		MatrixXd *	A = `0`,
		MatrixXd *	B = `0`
	)		`[virtual]`

Total resulting force on the system from external (e.g. gravity) and internal (control) inputs

Parameters:

f	total force f(x,u,t)
t	time
x	state
u	controls
A	jacobian Dxf
B	jacobian Duf

Reimplemented from gcop::Mbs.

The documentation for this class was generated from the following files:

lib/systems/airbase.h
lib/systems/airbase.cc

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation