#include <qrotor.h>
Inheritance diagram for gcop::Qrotor:
Collaboration diagram for gcop::Qrotor:
Public Member Functions | |
| Qrotor () | |
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 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
Constructor & Destructor Documentation
| Qrotor::Qrotor | ( | ) |
References gcop::Body3d< 4 >::Bu, gcop::Body3d< 4 >::fp, and gcop::Body3d< 4 >::m.
Member Data Documentation
| double gcop::Qrotor::km |
moment gain
| double gcop::Qrotor::kt |
thrust gain
| double gcop::Qrotor::l |
distance from center of mass to each rotor
Referenced by gcop::QrotorView::Render().
| double gcop::Qrotor::mm |
motor coefficient
| double gcop::Qrotor::r |
propeller radius
Referenced by gcop::QrotorView::Render().
The documentation for this class was generated from the following files:
