GCOP: gcop::Hrotor Class Reference

GCOP 1.0

gcop
Hrotor

#include <hrotor.h>

Inheritance diagram for gcop::Hrotor:

Inheritance graph

Collaboration diagram for gcop::Hrotor:

Collaboration graph

List of all members.

Public Member Functions
	Hrotor ()
void	StateAndControlsToFlat (VectorXd &y, const Body3dState &x, const Vector4d &u)
void	FlatToStateAndControls (Body3dState &x, Vector4d &u, const std::vector< VectorXd > &y)
Public Attributes
double	l
	distance from center of mass to each rotor
double	r
	propeller radius
double	kt
	thrust gain
double	km
	moment gain
double	mm
	motor coefficient

Detailed Description

A hexrotor 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

Hrotor::Hrotor ( )

References gcop::Body3d< 4 >::Bu, gcop::Body3d< 4 >::fp, and gcop::Body3d< 4 >::m.

Member Function Documentation

void Hrotor::FlatToStateAndControls	(	Body3dState &	x,
		Vector4d &	u,
		const std::vector< VectorXd > &	y
	)

References gcop::Body3d< 4 >::m.

void Hrotor::StateAndControlsToFlat	(	VectorXd &	y,
		const Body3dState &	x,
		const Vector4d &	u
	)

References gcop::SO3::Instance(), and gcop::SO3::yaw().

Member Data Documentation

double gcop::Hrotor::km

moment gain

double gcop::Hrotor::kt

thrust gain

double gcop::Hrotor::l

distance from center of mass to each rotor

Referenced by gcop::Airbot::Airbot(), and gcop::HrotorGeom3dView::RenderGeom().

double gcop::Hrotor::mm

motor coefficient

double gcop::Hrotor::r

propeller radius

Referenced by gcop::Airbot::Airbot(), and gcop::HrotorGeom3dView::RenderGeom().

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

lib/systems/hrotor.h
lib/systems/hrotor.cc