gcop::Snake Class Reference

#include <snake.h>

Inheritance diagram for gcop::Snake:

Collaboration diagram for gcop::Snake:

List of all members.

Public Member Functions
	Snake ()
void	Force (VectorXd &f, double t, const MbsState &x, const VectorXd &u, MatrixXd *A=0, MatrixXd *B=0)

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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

Snake::Snake

(

)

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

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Member Function Documentation

void Snake::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.

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

• lib/systems/snake.h
• lib/systems/snake.cc