Quadrotor dynamics with quaternion representation Based on D. Mellinger, N. Michael, and V. Kumar, "Trajectory generation and control for precise aggressive maneuvers with quadrotors", Proceedings of the 12th International Symposium on Experimental Robotics (ISER 2010), 2010. Cf. https://journals.sagepub.com/doi/abs/10.1177/0278364911434236. More...

#include <quadrotor_dynamics_solver.h>

Inheritance diagram for exotica::QuadrotorDynamicsSolver:

[legend]

Public Member Functions
void	AssignScene (ScenePtr scene_in) override

StateVector	f (const StateVector &x, const ControlVector &u) override

Eigen::MatrixXd	fu (const StateVector &x, const ControlVector &u) override

Eigen::MatrixXd	fx (const StateVector &x, const ControlVector &u) override

	QuadrotorDynamicsSolver ()

Public Member Functions inherited from exotica::AbstractDynamicsSolver< class, NX, NU >
	AbstractDynamicsSolver ()

virtual void	AssignScene (std::shared_ptr< Scene > scene_in)

void	ClampToStateLimits (Eigen::Ref< Eigen::VectorXd > state_in)

virtual void	ComputeDerivatives (const StateVector &x, const ControlVector &u)

virtual Hessian	ddStateDelta (const StateVector &x_1, const StateVector &x_2, const ArgumentPosition first_or_second)

virtual Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic >	dStateDelta (const StateVector &x_1, const StateVector &x_2, const ArgumentPosition first_or_second)

virtual StateVector	F (const StateVector &x, const ControlVector &u)

ControlDerivative	fu_fd (const StateVector &x, const ControlVector &u)

virtual Eigen::Tensor< T, 3 >	fuu (const StateVector &x, const ControlVector &u)

StateDerivative	fx_fd (const StateVector &x, const ControlVector &u)

virtual Eigen::Tensor< T, 3 >	fxu (const StateVector &x, const ControlVector &u)

virtual Eigen::Tensor< T, 3 >	fxx (const StateVector &x, const ControlVector &u)

const Eigen::MatrixXd &	get_control_limits ()

T	get_dt () const

const ControlDerivative &	get_Fu () const

const ControlDerivative &	get_fu () const

const StateDerivative &	get_Fx () const

const StateDerivative &	get_fx () const

const bool &	get_has_second_order_derivatives () const

const bool &	get_has_state_limits () const

Integrator	get_integrator () const

int	get_num_controls () const

int	get_num_positions () const

int	get_num_state () const

int	get_num_state_derivative () const

int	get_num_velocities () const

virtual Eigen::Matrix< T, Eigen::Dynamic, 1 >	GetPosition (Eigen::VectorXdRefConst x_in)

virtual void	InstantiateBase (const Initializer &init)

virtual void	Integrate (const StateVector &x, const StateVector &dx, const double dt, StateVector &xout)

virtual ControlVector	InverseDynamics (const StateVector &state)

void	set_control_limits (Eigen::VectorXdRefConst control_limits_low, Eigen::VectorXdRefConst control_limits_high)

void	set_integrator (Integrator integrator_in)

virtual void	SetDt (double dt_in)

void	SetIntegrator (const std::string &integrator_in)

StateVector	Simulate (const StateVector &x, const ControlVector &u, T t)

void	StateDelta (const StateVector &x_1, const StateVector &x_2, Eigen::VectorXdRef xout)

virtual StateVector	StateDelta (const StateVector &x_1, const StateVector &x_2)

virtual	~AbstractDynamicsSolver ()

Public Member Functions inherited from exotica::Object
std::string	GetObjectName ()

void	InstantiateObject (const Initializer &init)

	Object ()

virtual std::string	Print (const std::string &prepend) const

virtual std::string	type () const

virtual	~Object ()

Public Member Functions inherited from exotica::InstantiableBase
	InstantiableBase ()=default

virtual	~InstantiableBase ()=default

Public Member Functions inherited from exotica::Instantiable< QuadrotorDynamicsSolverInitializer >
std::vector< Initializer >	GetAllTemplates () const override

Initializer	GetInitializerTemplate () override

const QuadrotorDynamicsSolverInitializer &	GetParameters () const

virtual void	Instantiate (const QuadrotorDynamicsSolverInitializer &init)

void	InstantiateInternal (const Initializer &init) override

Private Attributes
double	g_ = 9.81
	Gravity (m/s^2) More...

Eigen::Matrix3d	J_
	Inertia matrix. More...

Eigen::Matrix3d	J_inv_
	Inverted inertia matrix. More...

double	k_f_ = 1
	Thrust coefficient, 6.11*10^-8;. More...

double	k_m_ = 0.0245
	Moment coefficient. More...

double	L_ = 0.1750
	Distance between motors. More...

double	mass_ = .5
	Mass. More...

Additional Inherited Members
Public Types inherited from exotica::AbstractDynamicsSolver< class, NX, NU >
typedef Eigen::Matrix< T, NX, NU >	ControlDerivative

typedef Eigen::Matrix< T, NU, 1 >	ControlVector

typedef Eigen::Matrix< T, NX, NX >	StateDerivative

typedef Eigen::Matrix< T, NX, 1 >	StateVector

Public Attributes inherited from exotica::Object
bool	debug_

std::string	ns_

std::string	object_name_

Protected Member Functions inherited from exotica::AbstractDynamicsSolver< class, NX, NU >
void	InitializeSecondOrderDerivatives ()

virtual StateVector	SimulateOneStep (const StateVector &x, const ControlVector &u)

Protected Attributes inherited from exotica::AbstractDynamicsSolver< class, NX, NU >
Eigen::MatrixXd	control_limits_

T	dt_

Eigen::MatrixXd	Fu_

Eigen::MatrixXd	fu_

Eigen::Tensor< T, 3 >	fuu_default_

Eigen::MatrixXd	fx_

Eigen::MatrixXd	Fx_

Eigen::Tensor< T, 3 >	fxu_default_

Eigen::Tensor< T, 3 >	fxx_default_

bool	has_second_order_derivatives_

bool	has_state_limits_

Integrator	integrator_

int	num_controls_

int	num_positions_

int	num_state_

int	num_state_derivative_

int	num_velocities_

bool	second_order_derivatives_initialized_

Eigen::VectorXd	state_limits_lower_

Eigen::VectorXd	state_limits_upper_

Protected Attributes inherited from exotica::Instantiable< QuadrotorDynamicsSolverInitializer >
QuadrotorDynamicsSolverInitializer	parameters_

Detailed Description

Quadrotor dynamics with quaternion representation Based on D. Mellinger, N. Michael, and V. Kumar, "Trajectory generation and control for precise aggressive maneuvers with quadrotors", Proceedings of the 12th International Symposium on Experimental Robotics (ISER 2010), 2010. Cf. https://journals.sagepub.com/doi/abs/10.1177/0278364911434236.

StateVector X ∈ R^12 = [x, y, z, r, p, y, xdot, ydot, zdot, omega1, omega2, omega3]

Definition at line 47 of file quadrotor_dynamics_solver.h.