Functions | Variables
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.



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autogenerated on Fri Nov 1 2024 03:43:26