quadrotor-ocp Namespace Reference

Classes
class	OptimalControlProblem

Functions
def	actuation_model ()
def	cost_quadratic_state_error (model)
def	euler_integration (model, data, dt)
def	main ()
def	state_difference (model)
def	state_integrate (model)

Variables
	cf
	cm
	d_cog
float	dt = 0.02
int	nodes = 80
string	path = Path(__file__).parent.parent.parent / "models" / "example-robot-data" / "python"
	tau_f
list	x0 = [0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0]
list	x_goal = [1, 0, 1.5, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0]
list	x_nom = [0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0]

Function Documentation

actuation_model()

def quadrotor-ocp.actuation_model

(

)

Definition at line 39 of file quadrotor-ocp.py.

cost_quadratic_state_error()

def quadrotor-ocp.cost_quadratic_state_error

(

model

)

Definition at line 100 of file quadrotor-ocp.py.

euler_integration()

def quadrotor-ocp.euler_integration	(		model,
			data,
			dt
	)

Definition at line 78 of file quadrotor-ocp.py.

main()

def quadrotor-ocp.main

(

)

Definition at line 259 of file quadrotor-ocp.py.

state_difference()

def quadrotor-ocp.state_difference

(

model

)

Definition at line 62 of file quadrotor-ocp.py.

state_integrate()

def quadrotor-ocp.state_integrate

(

model

)

Definition at line 46 of file quadrotor-ocp.py.

Variable Documentation

cf

quadrotor-ocp.cf

Definition at line 22 of file quadrotor-ocp.py.

cm

quadrotor-ocp.cm

Definition at line 22 of file quadrotor-ocp.py.

d_cog

quadrotor-ocp.d_cog

Definition at line 22 of file quadrotor-ocp.py.

dt

float quadrotor-ocp.dt = 0.02

Definition at line 19 of file quadrotor-ocp.py.

nodes

int quadrotor-ocp.nodes = 80

Definition at line 18 of file quadrotor-ocp.py.

path

string quadrotor-ocp.path = Path(__file__).parent.parent.parent / "models" / "example-robot-data" / "python"

Definition at line 11 of file quadrotor-ocp.py.

tau_f

quadrotor-ocp.tau_f

Initial value:

=  np.array(
    [
        [0.0, 0.0, 0.0, 0.0],
        [0.0, 0.0, 0.0, 0.0],
        [1.0, 1.0, 1.0, 1.0],
        [0.0, d_cog, 0.0, -d_cog],
        [-d_cog, 0.0, d_cog, 0.0],
        [-cm / cf, cm / cf, -cm / cf, cm / cf],
    ]
)

Definition at line 24 of file quadrotor-ocp.py.

x0

list quadrotor-ocp.x0 = [0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0]

Definition at line 17 of file quadrotor-ocp.py.

x_goal

list quadrotor-ocp.x_goal = [1, 0, 1.5, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0]

Definition at line 16 of file quadrotor-ocp.py.

x_nom

list quadrotor-ocp.x_nom = [0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0]

Definition at line 36 of file quadrotor-ocp.py.