#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"
Go to the source code of this file.
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) |
Definition at line 38 of file testSimpleHelicopter.cpp.
Pose3 g2 | ( | g1. | expmaph *V1_g1 | ) |
int main | ( | ) |
Definition at line 127 of file testSimpleHelicopter.cpp.
Definition at line 83 of file testSimpleHelicopter.cpp.
TEST | ( | DiscreteEulerPoincareHelicopter | , |
evaluateError | |||
) |
Definition at line 89 of file testSimpleHelicopter.cpp.
TEST | ( | Reconstruction | , |
evaluateError | |||
) |
Definition at line 52 of file testSimpleHelicopter.cpp.
double distR = 5.0 |
Definition at line 34 of file testSimpleHelicopter.cpp.
double distT = 1.0 |
Definition at line 33 of file testSimpleHelicopter.cpp.
Definition at line 31 of file testSimpleHelicopter.cpp.
const double h = 0.01 |
Definition at line 19 of file testSimpleHelicopter.cpp.
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.
double mass = 100.0 |
Definition at line 30 of file testSimpleHelicopter.cpp.
Definition at line 35 of file testSimpleHelicopter.cpp.
const double tol =1e-5 |
Definition at line 18 of file testSimpleHelicopter.cpp.
Definition at line 32 of file testSimpleHelicopter.cpp.
Vector6 V1_g1 = g1.inverse().Adjoint(V1_w) |
Definition at line 26 of file testSimpleHelicopter.cpp.