gen_second_order_dynamics Namespace Reference

## Variables

cos_phi = cos(phi)

cos_psi = cos(psi)

cos_theta = cos(theta)

F_1 = k_f_*u0

F_2 = k_f_*u1

F_3 = k_f_*u2

F_4 = k_f_*u3

Ftot = Matrix([0, 0, F_1 + F_2 + F_3 + F_4])

list fu = []

list fx = []

g_ = Symbol('g_')

Gtot = Matrix([0, 0, - g_])

I = Matrix([[Ix, 0, 0], [0, Iy, 0], [0, 0, Iz]])

Iinv = Matrix([[1 / Ix, 0, 0], [0, 1 / Iy, 0], [0, 0, 1 / Iz]])

int Ix = 2

int Iy = 2

int Iz = 2

k_f_ = Symbol('k_f_')

k_m_ = Symbol('k_m_')

L_ = Symbol('L_')

M_1 = k_m_*u0

M_2 = k_m_*u1

M_3 = k_m_*u2

M_4 = k_m_*u3

mass_ = Symbol('mass_')

omega = Matrix([phi_dot, theta_dot, psi_dot])

omega_dot = Iinv*(tau - omega.cross(I * omega))

phi = Symbol('phi')

phi_dot = Symbol('phi_dot')

pos_ddot = Gtot+R*Ftot/mass_

psi = Symbol('psi')

psi_dot = Symbol('psi_dot')

R = Rz*Rx*Ry

Rx

Ry

Rz

sin_phi = sin(phi)

sin_psi = sin(psi)

sin_theta = sin(theta)

state_dot

list statevars

tan_phi = tan(phi)

tan_psi = tan(psi)

tan_theta = tan(theta)

tau

theta = Symbol('theta')

theta_dot = Symbol('theta_dot')

u0 = Symbol('u(0)')

u1 = Symbol('u(1)')

u2 = Symbol('u(2)')

u3 = Symbol('u(3)')

x_ = Symbol('x_')

x_dot = Symbol('x_dot')

y_ = Symbol('y_')

y_dot = Symbol('y_dot')

z_ = Symbol('z_')

z_dot = Symbol('z_dot')

## Variable Documentation

 gen_second_order_dynamics.cos_phi = cos(phi)

Definition at line 40 of file gen_second_order_dynamics.py.

 gen_second_order_dynamics.cos_psi = cos(psi)

Definition at line 46 of file gen_second_order_dynamics.py.

 gen_second_order_dynamics.cos_theta = cos(theta)

Definition at line 43 of file gen_second_order_dynamics.py.

 gen_second_order_dynamics.F_1 = k_f_*u0

Definition at line 29 of file gen_second_order_dynamics.py.

 gen_second_order_dynamics.F_2 = k_f_*u1

Definition at line 30 of file gen_second_order_dynamics.py.

 gen_second_order_dynamics.F_3 = k_f_*u2

Definition at line 31 of file gen_second_order_dynamics.py.

 gen_second_order_dynamics.F_4 = k_f_*u3

Definition at line 32 of file gen_second_order_dynamics.py.

 gen_second_order_dynamics.Ftot = Matrix([0, 0, F_1 + F_2 + F_3 + F_4])

Definition at line 68 of file gen_second_order_dynamics.py.

 gen_second_order_dynamics.fu = []

Definition at line 120 of file gen_second_order_dynamics.py.

 gen_second_order_dynamics.fx = []

Definition at line 103 of file gen_second_order_dynamics.py.

 gen_second_order_dynamics.g_ = Symbol('g_')

Definition at line 24 of file gen_second_order_dynamics.py.

 gen_second_order_dynamics.Gtot = Matrix([0, 0, - g_])

Definition at line 67 of file gen_second_order_dynamics.py.

 gen_second_order_dynamics.I = Matrix([[Ix, 0, 0], [0, Iy, 0], [0, 0, Iz]])

Definition at line 87 of file gen_second_order_dynamics.py.

 gen_second_order_dynamics.Iinv = Matrix([[1 / Ix, 0, 0], [0, 1 / Iy, 0], [0, 0, 1 / Iz]])

Definition at line 88 of file gen_second_order_dynamics.py.

 int gen_second_order_dynamics.Ix = 2

Definition at line 82 of file gen_second_order_dynamics.py.

 int gen_second_order_dynamics.Iy = 2

Definition at line 83 of file gen_second_order_dynamics.py.

 int gen_second_order_dynamics.Iz = 2

Definition at line 84 of file gen_second_order_dynamics.py.

 gen_second_order_dynamics.k_f_ = Symbol('k_f_')

Definition at line 18 of file gen_second_order_dynamics.py.

 gen_second_order_dynamics.k_m_ = Symbol('k_m_')

Definition at line 19 of file gen_second_order_dynamics.py.

 gen_second_order_dynamics.L_ = Symbol('L_')

Definition at line 26 of file gen_second_order_dynamics.py.

 gen_second_order_dynamics.M_1 = k_m_*u0

Definition at line 34 of file gen_second_order_dynamics.py.

 gen_second_order_dynamics.M_2 = k_m_*u1

Definition at line 35 of file gen_second_order_dynamics.py.

 gen_second_order_dynamics.M_3 = k_m_*u2

Definition at line 36 of file gen_second_order_dynamics.py.

 gen_second_order_dynamics.M_4 = k_m_*u3

Definition at line 37 of file gen_second_order_dynamics.py.

 gen_second_order_dynamics.mass_ = Symbol('mass_')

Definition at line 25 of file gen_second_order_dynamics.py.

 gen_second_order_dynamics.omega = Matrix([phi_dot, theta_dot, psi_dot])

Definition at line 79 of file gen_second_order_dynamics.py.

 gen_second_order_dynamics.omega_dot = Iinv*(tau - omega.cross(I * omega))

Definition at line 90 of file gen_second_order_dynamics.py.

 gen_second_order_dynamics.phi = Symbol('phi')

Definition at line 9 of file gen_second_order_dynamics.py.

 gen_second_order_dynamics.phi_dot = Symbol('phi_dot')

Definition at line 15 of file gen_second_order_dynamics.py.

 gen_second_order_dynamics.pos_ddot = Gtot+R*Ftot/mass_

Definition at line 70 of file gen_second_order_dynamics.py.

 gen_second_order_dynamics.psi = Symbol('psi')

Definition at line 11 of file gen_second_order_dynamics.py.

 gen_second_order_dynamics.psi_dot = Symbol('psi_dot')

Definition at line 17 of file gen_second_order_dynamics.py.

 gen_second_order_dynamics.R = Rz*Rx*Ry

Definition at line 65 of file gen_second_order_dynamics.py.

Definition at line 81 of file gen_second_order_dynamics.py.

 gen_second_order_dynamics.Rx
Initial value:
1 = Matrix([
2  [1, 0, 0],
3  [0, cos_phi, -sin_phi],
4  [0, sin_phi, cos_phi]
5 ])

Definition at line 49 of file gen_second_order_dynamics.py.

 gen_second_order_dynamics.Ry
Initial value:
1 = Matrix([
2  [cos_theta, 0, sin_theta],
3  [0, 1, 0],
4  [-sin_theta, 0, cos_theta]
5 ])

Definition at line 54 of file gen_second_order_dynamics.py.

 gen_second_order_dynamics.Rz
Initial value:
1 = Matrix([
2  [cos_psi, -sin_psi, 0],
3  [sin_psi, cos_psi, 0],
4  [0, 0, 1]
5 ])

Definition at line 59 of file gen_second_order_dynamics.py.

 gen_second_order_dynamics.sin_phi = sin(phi)

Definition at line 39 of file gen_second_order_dynamics.py.

 gen_second_order_dynamics.sin_psi = sin(psi)

Definition at line 45 of file gen_second_order_dynamics.py.

 gen_second_order_dynamics.sin_theta = sin(theta)

Definition at line 42 of file gen_second_order_dynamics.py.

 gen_second_order_dynamics.state_dot
Initial value:
1 = Matrix([
2  x_dot, y_dot, z_dot,
3  phi_dot, theta_dot, psi_dot,
4  pos_ddot[0], pos_ddot[1], pos_ddot[2],
5  omega_dot[0], omega_dot[1], omega_dot[2]
6 ])

Definition at line 93 of file gen_second_order_dynamics.py.

 list gen_second_order_dynamics.statevars
Initial value:
1 = [
2  x_, y_, z_, phi, theta, psi, x_dot, y_dot, z_dot, phi_dot, theta_dot, psi_dot
3 ]

Definition at line 100 of file gen_second_order_dynamics.py.

 gen_second_order_dynamics.tan_phi = tan(phi)

Definition at line 41 of file gen_second_order_dynamics.py.

 gen_second_order_dynamics.tan_psi = tan(psi)

Definition at line 47 of file gen_second_order_dynamics.py.

 gen_second_order_dynamics.tan_theta = tan(theta)

Definition at line 44 of file gen_second_order_dynamics.py.

 gen_second_order_dynamics.tau
Initial value:
1 = Matrix([
2  L_ * (F_1 - F_2), L_ * (F_1 - F_3),
3  # b_ * (M_1 - M_2 + M_3 - M_4)
4  (M_1 - M_2 + M_3 - M_4)
5 ])

Definition at line 74 of file gen_second_order_dynamics.py.

 gen_second_order_dynamics.theta = Symbol('theta')

Definition at line 10 of file gen_second_order_dynamics.py.

 gen_second_order_dynamics.theta_dot = Symbol('theta_dot')

Definition at line 16 of file gen_second_order_dynamics.py.

 gen_second_order_dynamics.u0 = Symbol('u(0)')

Definition at line 20 of file gen_second_order_dynamics.py.

 gen_second_order_dynamics.u1 = Symbol('u(1)')

Definition at line 21 of file gen_second_order_dynamics.py.

 gen_second_order_dynamics.u2 = Symbol('u(2)')

Definition at line 22 of file gen_second_order_dynamics.py.

 gen_second_order_dynamics.u3 = Symbol('u(3)')

Definition at line 23 of file gen_second_order_dynamics.py.

 gen_second_order_dynamics.x_ = Symbol('x_')

Definition at line 6 of file gen_second_order_dynamics.py.

 gen_second_order_dynamics.x_dot = Symbol('x_dot')

Definition at line 12 of file gen_second_order_dynamics.py.

 gen_second_order_dynamics.y_ = Symbol('y_')

Definition at line 7 of file gen_second_order_dynamics.py.

 gen_second_order_dynamics.y_dot = Symbol('y_dot')

Definition at line 13 of file gen_second_order_dynamics.py.

 gen_second_order_dynamics.z_ = Symbol('z_')

Definition at line 8 of file gen_second_order_dynamics.py.

 gen_second_order_dynamics.z_dot = Symbol('z_dot')

Definition at line 14 of file gen_second_order_dynamics.py.