testSimpleHelicopter.cpp File Reference

#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam_unstable/dynamics/SimpleHelicopter.h>
#include "gtsam/base/Vector.h"
#include "gtsam/geometry/Pose3.h"

Include dependency graph for testSimpleHelicopter.cpp:

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Functions
Vector	computeFu (const Vector &gamma, const Vector &control)
Pose3	g2 (g1.expmap(h *V1_g1))
int	main ()
Vector	newtonEuler (const Vector &Vb, const Vector &Fb, const Matrix &Inertia)
	TEST (DiscreteEulerPoincareHelicopter, evaluateError)
	TEST (Reconstruction, evaluateError)
Vector6	V1_w ((Vector(6)<< 0.0, 0.0, M_PI/3, 0.0, 0.0, 30.0).finished())

Variables
double	distR = 5.0
double	distT = 1.0
Pose3	g1 (Rot3(), Point3(100.0, 0.0, 300.0))
Vector	gamma2 = Vector2(0.0, 0.0)
const double	h = 0.01
Matrix	Inertia = (Vector(6) << 2.0/5.0*mass*distR*distR, 2.0/5.0*mass*distR*distR, 2.0/5.0*mass*distR*distR, mass, mass, mass).finished().asDiagonal()
double	mass = 100.0
Matrix	Mass = ((Vector(3) << mass, mass, mass).finished()).asDiagonal()
const double	tol =1e-5
Vector	u2 = Vector2(0.0, 0.0)
Vector6	V1_g1 = g1.inverse().Adjoint(V1_w)

Function Documentation

computeFu()

Vector computeFu	(	const Vector &	gamma,
		const Vector &	control
	)

Definition at line 38 of file testSimpleHelicopter.cpp.

g2()

Pose3 g2

(

g1.

expmaph *V1_g1

)

main()

int main

(

)

Definition at line 127 of file testSimpleHelicopter.cpp.

newtonEuler()

Vector newtonEuler	(	const Vector &	Vb,
		const Vector &	Fb,
		const Matrix &	Inertia
	)

Definition at line 83 of file testSimpleHelicopter.cpp.

TEST() [1/2]

TEST	(	DiscreteEulerPoincareHelicopter	,
		evaluateError
	)

Definition at line 89 of file testSimpleHelicopter.cpp.

TEST() [2/2]

TEST	(	Reconstruction	,
		evaluateError
	)

Definition at line 52 of file testSimpleHelicopter.cpp.

V1_w()

Vector6 V1_w

(

(Vector(6)<< 0.0, 0.0, M_PI/3, 0.0, 0.0, 30.0).finished()

)

Variable Documentation

distR

double distR = 5.0

Definition at line 34 of file testSimpleHelicopter.cpp.

distT

double distT = 1.0

Definition at line 33 of file testSimpleHelicopter.cpp.

g1

Pose3 g1(Rot3(), Point3(100.0, 0.0, 300.0))

gamma2

Vector gamma2 = Vector2(0.0, 0.0)

Definition at line 31 of file testSimpleHelicopter.cpp.

h

const double h = 0.01

Definition at line 19 of file testSimpleHelicopter.cpp.

Inertia

Matrix Inertia = (Vector(6) << 2.0/5.0*mass*distR*distR, 2.0/5.0*mass*distR*distR, 2.0/5.0*mass*distR*distR, mass, mass, mass).finished().asDiagonal()

Definition at line 36 of file testSimpleHelicopter.cpp.

mass

double mass = 100.0

Definition at line 30 of file testSimpleHelicopter.cpp.

Mass

Matrix Mass = ((Vector(3) << mass, mass, mass).finished()).asDiagonal()

Definition at line 35 of file testSimpleHelicopter.cpp.

tol

const double tol =1e-5

Definition at line 18 of file testSimpleHelicopter.cpp.

u2

Vector u2 = Vector2(0.0, 0.0)

Definition at line 32 of file testSimpleHelicopter.cpp.

V1_g1

Vector6 V1_g1 = g1.inverse().Adjoint(V1_w)

Definition at line 26 of file testSimpleHelicopter.cpp.