GCOP: gcop::Airm Class Reference

GCOP 1.0

gcop
Airm

#include <airm.h>

Inheritance diagram for gcop::Airm:

Inheritance graph

Collaboration diagram for gcop::Airm:

Collaboration graph

List of all members.

Public Member Functions
	Airm ()
void	Force (VectorXd &f, double t, const MbsState &x, const VectorXd &u, MatrixXd A=0, MatrixXd B=0)
	Airm ()
Public Attributes
Hrotor	hrotor

Detailed Description

A quadrotor dynamical 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

Airm::Airm ( )

References gcop::Mbs::Init(), gcop::Mbs::joints, gcop::Mbs::links, gcop::Mbs::pis, gcop::SE3::rpyxyz2g(), and gcop::Mbs::se3.

gcop::Airm::Airm ( )

Member Function Documentation

void Airm::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::MbsState::dr.

Member Data Documentation

Hrotor gcop::Airm::hrotor

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

lib/systems/airm.h
lib/systems/qrotorarm.h
lib/systems/airm.cc