|
| | gen_second_order_dynamics.cos_phi = cos(phi) |
| |
| | gen_second_order_dynamics.cos_psi = cos(psi) |
| |
| | gen_second_order_dynamics.cos_theta = cos(theta) |
| |
| | gen_second_order_dynamics.F_1 = k_f_*u0 |
| |
| | gen_second_order_dynamics.F_2 = k_f_*u1 |
| |
| | gen_second_order_dynamics.F_3 = k_f_*u2 |
| |
| | gen_second_order_dynamics.F_4 = k_f_*u3 |
| |
| | gen_second_order_dynamics.Ftot = Matrix([0, 0, F_1 + F_2 + F_3 + F_4]) |
| |
| list | gen_second_order_dynamics.fu = [] |
| |
| list | gen_second_order_dynamics.fx = [] |
| |
| | gen_second_order_dynamics.g_ = Symbol('g_') |
| |
| | gen_second_order_dynamics.Gtot = Matrix([0, 0, - g_]) |
| |
| | gen_second_order_dynamics.I = Matrix([[Ix, 0, 0], [0, Iy, 0], [0, 0, Iz]]) |
| |
| | gen_second_order_dynamics.Iinv = Matrix([[1 / Ix, 0, 0], [0, 1 / Iy, 0], [0, 0, 1 / Iz]]) |
| |
| int | gen_second_order_dynamics.Ix = 2 |
| |
| int | gen_second_order_dynamics.Iy = 2 |
| |
| int | gen_second_order_dynamics.Iz = 2 |
| |
| | gen_second_order_dynamics.k_f_ = Symbol('k_f_') |
| |
| | gen_second_order_dynamics.k_m_ = Symbol('k_m_') |
| |
| | gen_second_order_dynamics.L_ = Symbol('L_') |
| |
| | gen_second_order_dynamics.M_1 = k_m_*u0 |
| |
| | gen_second_order_dynamics.M_2 = k_m_*u1 |
| |
| | gen_second_order_dynamics.M_3 = k_m_*u2 |
| |
| | gen_second_order_dynamics.M_4 = k_m_*u3 |
| |
| | gen_second_order_dynamics.mass_ = Symbol('mass_') |
| |
| | gen_second_order_dynamics.omega = Matrix([phi_dot, theta_dot, psi_dot]) |
| |
| | gen_second_order_dynamics.omega_dot = Iinv*(tau - omega.cross(I * omega)) |
| |
| | gen_second_order_dynamics.phi = Symbol('phi') |
| |
| | gen_second_order_dynamics.phi_dot = Symbol('phi_dot') |
| |
| | gen_second_order_dynamics.pos_ddot = Gtot+R*Ftot/mass_ |
| |
| | gen_second_order_dynamics.psi = Symbol('psi') |
| |
| | gen_second_order_dynamics.psi_dot = Symbol('psi_dot') |
| |
| | gen_second_order_dynamics.R = Rz*Rx*Ry |
| |
| float | gen_second_order_dynamics.radius = L_/2.0 |
| |
| | gen_second_order_dynamics.Rx |
| |
| | gen_second_order_dynamics.Ry |
| |
| | gen_second_order_dynamics.Rz |
| |
| | gen_second_order_dynamics.sin_phi = sin(phi) |
| |
| | gen_second_order_dynamics.sin_psi = sin(psi) |
| |
| | gen_second_order_dynamics.sin_theta = sin(theta) |
| |
| | gen_second_order_dynamics.state_dot |
| |
| list | gen_second_order_dynamics.statevars |
| |
| | gen_second_order_dynamics.tan_phi = tan(phi) |
| |
| | gen_second_order_dynamics.tan_psi = tan(psi) |
| |
| | gen_second_order_dynamics.tan_theta = tan(theta) |
| |
| | gen_second_order_dynamics.tau |
| |
| | gen_second_order_dynamics.theta = Symbol('theta') |
| |
| | gen_second_order_dynamics.theta_dot = Symbol('theta_dot') |
| |
| | gen_second_order_dynamics.u0 = Symbol('u(0)') |
| |
| | gen_second_order_dynamics.u1 = Symbol('u(1)') |
| |
| | gen_second_order_dynamics.u2 = Symbol('u(2)') |
| |
| | gen_second_order_dynamics.u3 = Symbol('u(3)') |
| |
| | gen_second_order_dynamics.x_ = Symbol('x_') |
| |
| | gen_second_order_dynamics.x_dot = Symbol('x_dot') |
| |
| | gen_second_order_dynamics.y_ = Symbol('y_') |
| |
| | gen_second_order_dynamics.y_dot = Symbol('y_dot') |
| |
| | gen_second_order_dynamics.z_ = Symbol('z_') |
| |
| | gen_second_order_dynamics.z_dot = Symbol('z_dot') |
| |