gcop::Chain Class Reference

#include <chain.h>

Inheritance diagram for gcop::Chain:

Collaboration diagram for gcop::Chain:

List of all members.

Public Member Functions
	Chain (int nb=4, bool fixed=false)

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Detailed Description

A quadrotor dynamical model.

The state is where is the pose, and the controls are correspond to torques around the body and a vertical lift force.

Author: Marin Kobilarov marin(at)jhu.edu

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Constructor & Destructor Documentation

Chain::Chain	(	int	nb = 4,
		bool	fixed = false
	)

References gcop::Mbs::basetype, gcop::Manifold< T, _n >::bnd, gcop::MbsState::dr, gcop::Mbs::FIXEDBASE, gcop::Mbs::joints, gcop::Manifold< T, _n >::lb, gcop::Mbs::links, gcop::Mbs::pis, gcop::MbsState::r, gcop::SE3::rpyxyz2g(), gcop::Mbs::se3, gcop::System< MbsState >::U, gcop::Manifold< T, _n >::ub, and gcop::System< MbsState >::X.

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

• lib/systems/chain.h
• lib/systems/chain.cc