#include <airbot.h>
Public Member Functions | |
| Airbot () | |
| void | Force (VectorXd &f, double t, const MbsState &x, const VectorXd &u, MatrixXd *A=0, MatrixXd *B=0) |
Public Attributes | |
| Hrotor | hrotor |
Detailed Description
A hexrotor with two manipulators
Author: Marin Kobilarov marin(at)jhu.edu
Constructor & Destructor Documentation
| Airbot::Airbot | ( | ) |
References gcop::Mbs::AIRBASE, gcop::Mbs::basetype, gcop::Manifold< T, _n >::bnd, gcop::MbsState::dr, gcop::MbsState::gs, hrotor, gcop::Mbs::Init(), gcop::Mbs::joints, gcop::Hrotor::l, gcop::Manifold< T, _n >::lb, gcop::Mbs::links, gcop::Manifold< T, _n >::n, gcop::Mbs::nb, gcop::Mbs::pis, gcop::Hrotor::r, gcop::MbsState::r, gcop::SE3::rpyxyz2g(), gcop::Mbs::se3, gcop::System< MbsState >::U, gcop::Manifold< T, _n >::ub, gcop::MbsState::vs, and gcop::System< MbsState >::X.
Member Function Documentation
| void Airbot::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.
References gcop::Mbs::damping, gcop::MbsState::dr, and gcop::Mbs::nb.
Member Data Documentation
Referenced by Airbot().
The documentation for this class was generated from the following files:
