gcop::Gunicycle Class Reference

#include <gunicycle.h>

Inheritance diagram for gcop::Gunicycle:

Collaboration diagram for gcop::Gunicycle:

List of all members.

Public Member Functions
	Gunicycle ()
double	Step (M3V2d &xb, double t, const M3V2d &xa, const Vector2d &u, double h, const VectorXd *p, Matrix5d *A=0, Matrix52d *B=0, Matrix5Xd *C=0)
Public Attributes
double	dx
	distance between left and right tires
double	dy
	distance between front and back axles

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Detailed Description

A "geometric" unicycle model with 2nd order dynamics. This is often used to model simple wheeled robots or fixed-wing aircraft. The control system is implemented as an evolution on SE(2) as opposed to a vector space.

The state is where is the pose, the controls correspond to turn rate acceleration and forward acceleration.

Author: Marin Kobilarov marin(at)jhu.edu

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Constructor & Destructor Documentation

Gunicycle::Gunicycle

(

)

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Member Function Documentation

double Gunicycle::Step	(	M3V2d &	xb,
		double	t,
		const M3V2d &	xa,
		const Vector2d &	u,
		double	h,
		const VectorXd *	p,
		Matrix5d *	A = 0,
		Matrix52d *	B = 0,
		Matrix5Xd *	C = 0
	)

References gcop::SE2::Ad(), gcop::SE2::cay(), gcop::SE2::dcay(), and gcop::SE2::Instance().

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Member Data Documentation

double gcop::Gunicycle::dx

distance between left and right tires

Referenced by gcop::AirplaneView::Render(), and gcop::GunicycleView::Render().

double gcop::Gunicycle::dy

distance between front and back axles

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

• lib/systems/gunicycle.h
• lib/systems/gunicycle.cc