hrotor.h

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#ifndef GCOP_HROTOR_H
#define GCOP_HROTOR_H

#include "body3d.h"

namespace gcop {
  
  class Hrotor : public Body3d<4> {
  public:
    Hrotor();
    void StateAndControlsToFlat(VectorXd &y, const Body3dState &x,
               const Vector4d &u);    
    void FlatToStateAndControls(Body3dState &x, Vector4d &u,
               const std::vector<VectorXd> &y);
    
    double l;  
    double r;  
    
    double kt; 
    double km; 
    
    double mm; 
  };
}

#endif