simulated_quadrotor.models.simple_nonlinear.SimpleNonlinearModel Class Reference

Inheritance diagram for simulated_quadrotor.models.simple_nonlinear.SimpleNonlinearModel:

List of all members.

Public Member Functions
def	__init__
def	get_angular_velocity
def	get_orientation
def	get_position
def	get_velocity
def	set_input
def	update
Public Attributes
	alt_cmd
	alt_Ilimit
	alt_KD
	alt_KI
	alt_KP
	alt_pid
	debug_publisher
	direct_thrust_commands
	direct_yaw_rate_commands
	gaussian_accel_noise_covariance
	max_thrust
	motors_on
	nominal_thrust
	periodic_accel_disturbance_duration
	periodic_accel_disturbance_period
	periodic_accel_disturbance_vector
	pitch_bias
	pitch_cmd
	pitch_slew_rate_limit
	prev_orientation
	prev_pitch_cmd
	prev_roll_cmd
	q_dot_prev
	roll_bias
	roll_cmd
	roll_slew_rate_limit
	t
	thrust_cmd
	thrust_mult
	x
	yaw_cmd
	yaw_rate_cmd

---

Detailed Description

Simple nonlinear model of arbitrary quadrotor type vehicle.
13 states:
index    quantity                    units
0        x position                    m
1        y position                    m
2        z position                    m

3        x velocity                    m/s
4        y velocity                    m/s
5        z velocity                    m/s

6        orientation quaternion (w)   
7        orientation quaternion (x)   
8        orientation quaternion (y)   
9        orientation quaternion (z)
   
10       angular velocity (x)          rad/s
11       angular velocity (y)          rad/s
12       angular velocity (z)          rad/s

4 inputs:
index    quantity  units
0        yaw       deg
1        pitch     deg
2        roll      deg
3        altitude  m
4        enable    (bool, True if motors are on)

NOTE: transformations.py (tf.transformations) represents quaternions 
      as (x, y, z, w) tuples!

Definition at line 80 of file simple_nonlinear.py.

---

Constructor & Destructor Documentation

def simulated_quadrotor.models.simple_nonlinear.SimpleNonlinearModel.__init__

(

self

)

Definition at line 113 of file simple_nonlinear.py.

---

Member Function Documentation

def simulated_quadrotor.models.simple_nonlinear.SimpleNonlinearModel.get_angular_velocity

(

self

)

Definition at line 325 of file simple_nonlinear.py.

def simulated_quadrotor.models.simple_nonlinear.SimpleNonlinearModel.get_orientation

(

self

)

Return orientation quaternion in (x, y, z, w) convention

Definition at line 319 of file simple_nonlinear.py.

def simulated_quadrotor.models.simple_nonlinear.SimpleNonlinearModel.get_position

(

self

)

Definition at line 313 of file simple_nonlinear.py.

def simulated_quadrotor.models.simple_nonlinear.SimpleNonlinearModel.get_velocity

(

self

)

Definition at line 316 of file simple_nonlinear.py.

def simulated_quadrotor.models.simple_nonlinear.SimpleNonlinearModel.set_input	(		self,
			motors_on,
			roll_cmd,
			pitch_cmd,
			direct_yaw_rate_commands,
			yaw_cmd,
			yaw_rate_cmd,
			direct_thrust_commands,
			alt_cmd,
			thrust_cmd
	)

Definition at line 156 of file simple_nonlinear.py.

def simulated_quadrotor.models.simple_nonlinear.SimpleNonlinearModel.update	(		self,
			dt
	)

Definition at line 169 of file simple_nonlinear.py.

---

Member Data Documentation

simulated_quadrotor::models::simple_nonlinear.SimpleNonlinearModel::alt_cmd

Definition at line 156 of file simple_nonlinear.py.

simulated_quadrotor::models::simple_nonlinear.SimpleNonlinearModel::alt_Ilimit

Definition at line 113 of file simple_nonlinear.py.

simulated_quadrotor::models::simple_nonlinear.SimpleNonlinearModel::alt_KD

Definition at line 113 of file simple_nonlinear.py.

simulated_quadrotor::models::simple_nonlinear.SimpleNonlinearModel::alt_KI

Definition at line 113 of file simple_nonlinear.py.

simulated_quadrotor::models::simple_nonlinear.SimpleNonlinearModel::alt_KP

Definition at line 113 of file simple_nonlinear.py.

simulated_quadrotor::models::simple_nonlinear.SimpleNonlinearModel::alt_pid

Definition at line 113 of file simple_nonlinear.py.

simulated_quadrotor::models::simple_nonlinear.SimpleNonlinearModel::debug_publisher

Definition at line 113 of file simple_nonlinear.py.

simulated_quadrotor::models::simple_nonlinear.SimpleNonlinearModel::direct_thrust_commands

Definition at line 156 of file simple_nonlinear.py.

simulated_quadrotor::models::simple_nonlinear.SimpleNonlinearModel::direct_yaw_rate_commands

Definition at line 156 of file simple_nonlinear.py.

simulated_quadrotor::models::simple_nonlinear.SimpleNonlinearModel::gaussian_accel_noise_covariance

Definition at line 113 of file simple_nonlinear.py.

simulated_quadrotor::models::simple_nonlinear.SimpleNonlinearModel::max_thrust

Definition at line 113 of file simple_nonlinear.py.

simulated_quadrotor::models::simple_nonlinear.SimpleNonlinearModel::motors_on

Definition at line 156 of file simple_nonlinear.py.

simulated_quadrotor::models::simple_nonlinear.SimpleNonlinearModel::nominal_thrust

Definition at line 113 of file simple_nonlinear.py.

simulated_quadrotor::models::simple_nonlinear.SimpleNonlinearModel::periodic_accel_disturbance_duration

Definition at line 113 of file simple_nonlinear.py.

simulated_quadrotor::models::simple_nonlinear.SimpleNonlinearModel::periodic_accel_disturbance_period

Definition at line 113 of file simple_nonlinear.py.

simulated_quadrotor::models::simple_nonlinear.SimpleNonlinearModel::periodic_accel_disturbance_vector

Definition at line 113 of file simple_nonlinear.py.

simulated_quadrotor::models::simple_nonlinear.SimpleNonlinearModel::pitch_bias

Definition at line 113 of file simple_nonlinear.py.

simulated_quadrotor::models::simple_nonlinear.SimpleNonlinearModel::pitch_cmd

Definition at line 156 of file simple_nonlinear.py.

simulated_quadrotor::models::simple_nonlinear.SimpleNonlinearModel::pitch_slew_rate_limit

Definition at line 113 of file simple_nonlinear.py.

simulated_quadrotor::models::simple_nonlinear.SimpleNonlinearModel::prev_orientation

Definition at line 113 of file simple_nonlinear.py.

simulated_quadrotor::models::simple_nonlinear.SimpleNonlinearModel::prev_pitch_cmd

Definition at line 113 of file simple_nonlinear.py.

simulated_quadrotor::models::simple_nonlinear.SimpleNonlinearModel::prev_roll_cmd

Definition at line 113 of file simple_nonlinear.py.

simulated_quadrotor::models::simple_nonlinear.SimpleNonlinearModel::q_dot_prev

Definition at line 113 of file simple_nonlinear.py.

simulated_quadrotor::models::simple_nonlinear.SimpleNonlinearModel::roll_bias

Definition at line 113 of file simple_nonlinear.py.

simulated_quadrotor::models::simple_nonlinear.SimpleNonlinearModel::roll_cmd

Definition at line 156 of file simple_nonlinear.py.

simulated_quadrotor::models::simple_nonlinear.SimpleNonlinearModel::roll_slew_rate_limit

Definition at line 113 of file simple_nonlinear.py.

simulated_quadrotor::models::simple_nonlinear.SimpleNonlinearModel::t

Definition at line 113 of file simple_nonlinear.py.

simulated_quadrotor::models::simple_nonlinear.SimpleNonlinearModel::thrust_cmd

Definition at line 156 of file simple_nonlinear.py.

simulated_quadrotor::models::simple_nonlinear.SimpleNonlinearModel::thrust_mult

Definition at line 113 of file simple_nonlinear.py.

simulated_quadrotor::models::simple_nonlinear.SimpleNonlinearModel::x

Definition at line 113 of file simple_nonlinear.py.

simulated_quadrotor::models::simple_nonlinear.SimpleNonlinearModel::yaw_cmd

Definition at line 156 of file simple_nonlinear.py.

simulated_quadrotor::models::simple_nonlinear.SimpleNonlinearModel::yaw_rate_cmd

Definition at line 156 of file simple_nonlinear.py.

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

• simple_nonlinear.py