Multicopter dynamics simulator class. More...

#include <multicopterDynamicsSim.hpp>

Public Member Functions
void	getIMUMeasurement (Eigen::Vector3d &accOutput, Eigen::Vector3d &gyroOutput)
	Get IMU measurement. More...

const std::vector< double > &	getMotorsSpeed () const

Eigen::Vector3d	getVehicleAngularVelocity (void)
	Get vehicle angular velocity. More...

Eigen::Quaterniond	getVehicleAttitude (void)
	Get vehicle attitude. More...

Eigen::Vector3d	getVehiclePosition (void)
	Get vehicle position. More...

void	getVehicleState (Eigen::Vector3d &position, Eigen::Vector3d &velocity, Eigen::Vector3d &angularVelocity, Eigen::Quaterniond &attitude, std::vector< double > &motorSpeed)
	Get vehicle state. More...

Eigen::Vector3d	getVehicleVelocity (void)
	Get vehicle velocity. More...

	MulticopterDynamicsSim (int numCopter)
	Brief constructor for a new Multicopter Dynamics Sim object; vehicle properties must still be set seperately. More...

	MulticopterDynamicsSim (int numCopter, double thrustCoefficient, double torqueCoefficient, double minMotorSpeed, double maxMotorSpeed, double motorTimeConstant, double motorRotationalInertia, double vehicleMass, const Eigen::Matrix3d &vehicleInertia, const Eigen::Matrix3d &aeroMomentCoefficient, double dragCoefficient, double momentProcessNoiseAutoCorrelation, double forceProcessNoiseAutoCorrelation, const Eigen::Vector3d &gravity)
	Construct a new Multicopter Dynamics Sim object. More...

void	proceedState_ExplicitEuler (double dt_secs, const std::vector< double > &motorSpeedCommand, bool isCmdPercent=false)
	Proceed vehicle dynamics using Explicit Euler integration. More...

void	proceedState_RK4 (double dt_secs, const std::vector< double > &motorSpeedCommand, bool isCmdPercent=false)
	Proceed vehicle dynamics using 4th order Runge-Kutta integration. More...

void	resetMotorSpeeds (void)
	Set motor speed to zero for all motors. More...

void	setGravityVector (const Eigen::Vector3d &gravity)
	Set orientation of world-fixed reference frame using gravity vector. More...

void	setMotorFrame (const Eigen::Isometry3d &motorFrame, int motorDirection, int motorIndex)
	Set orientation and position for individual motor. More...

void	setMotorProperties (double thrustCoefficient, double torqueCoefficient, double motorTimeConstant, double minMotorSpeed, double maxMotorSpeed, double rotationalInertia)
	Set properties for all motors. More...

void	setMotorProperties (double thrustCoefficient, double torqueCoefficient, double motorTimeConstant, double minMotorSpeed, double maxMotorSpeed, double rotationalInertia, int motorIndex)
	Set properties for individual motor. More...

void	setMotorSpeed (double motorSpeed)
	Set motor speed for all motors. More...

void	setMotorSpeed (double motorSpeed, int motorIndex)
	Set motor speed for individual motor. More...

void	setVehicleInitialAttitude (const Eigen::Quaterniond &attitude)

void	setVehiclePosition (const Eigen::Vector3d &position, const Eigen::Quaterniond &attitude)
	Set vehicle position and attitude. More...

void	setVehicleProperties (double vehicleMass, const Eigen::Matrix3d &vehicleInertia, const Eigen::Matrix3d &aeroMomentCoefficient, double dragCoefficient, double momentProcessNoiseAutoCorrelation, double forceProcessNoiseAutoCorrelation)
	Set vehicle properties. More...

void	setVehicleState (const Eigen::Vector3d &position, const Eigen::Vector3d &velocity, const Eigen::Vector3d &angularVelocity, const Eigen::Quaterniond &attitude, const std::vector< double > &motorSpeed)
	Set vehicle state. More...

Public Attributes
IMU simulator
inertialMeasurementSim	imu_ = inertialMeasurementSim(0.,0.,0.,0.)

Private Attributes
Number of rotors
int	numCopter_

Motor properties
std::vector< Eigen::Isometry3d >	motorFrame_

std::vector< int >	motorDirection_

std::vector< double >	thrustCoefficient_

std::vector< double >	torqueCoefficient_

std::vector< double >	motorTimeConstant_

std::vector< double >	motorRotationalInertia_

std::vector< double >	maxMotorSpeed_

std::vector< double >	minMotorSpeed_

Vehicle properties
double	dragCoefficient_

Eigen::Matrix3d	aeroMomentCoefficient_

double	vehicleMass_

Eigen::Matrix3d	vehicleInertia_

double	momentProcessNoiseAutoCorrelation_ = 0.

double	forceProcessNoiseAutoCorrelation_ = 0.

Std normal RNG
std::default_random_engine	randomNumberGenerator_

std::normal_distribution< double >	standardNormalDistribution_ = std::normal_distribution<double>(0.0,1.0)

Gravity vector
Eigen::Vector3d	gravity_

Vehicle state variables
std::vector< double >	motorSpeed_

Eigen::Vector3d	velocity_ = Eigen::Vector3d::Zero()

Eigen::Vector3d	position_ = Eigen::Vector3d::Zero()

Eigen::Vector3d	angularVelocity_ = Eigen::Vector3d::Zero()

Eigen::Quaterniond	attitude_ = Eigen::Quaterniond::Identity()

Eigen::Quaterniond	default_attitude_ = Eigen::Quaterniond::Identity()

Vehicle stochastic force vector
Eigen::Vector3d	stochForce_ = Eigen::Vector3d::Zero()

Eigen::Vector3d	getThrust (const std::vector< double > &motorSpeed)
	Get thrust in vehicle-fixed reference frame. More...

Eigen::Vector3d	getControlMoment (const std::vector< double > &motorSpeed, const std::vector< double > &motorAcceleration)
	Get control moment in vehicle-fixed reference frame. More...

Eigen::Vector3d	getAeroMoment (const Eigen::Vector3d &angularVelocity)
	Get aerodynamic moment in vehicle-fixed reference frame. More...

Eigen::Vector3d	getDragForce (const Eigen::Vector3d &velocity)
	Get drag force in world-fixed reference frame. More...

Eigen::Vector3d	getVehicleSpecificForce (void)
	Get total specific force acting on vehicle, excluding gravity force. More...

Eigen::Vector3d	getTotalForce (void)
	Get total force acting on vehicle, including gravity force. More...

void	getMotorSpeedDerivative (std::vector< double > &motorSpeedDer, const std::vector< double > &motorSpeed, const std::vector< double > &motorSpeedCommand)
	Get motor acceleration. More...

Eigen::Vector3d	getVelocityDerivative (const Eigen::Quaterniond &attitude, const Eigen::Vector3d &stochForce, const Eigen::Vector3d &velocity, const std::vector< double > &motorSpeed)
	Get vehicle accelertion in world-fixed reference frame. More...

Eigen::Vector3d	getAngularVelocityDerivative (const std::vector< double > &motorSpeed, const std::vector< double > &motorAcceleration, const Eigen::Vector3d &angularVelocity, const Eigen::Vector3d &stochMoment)
	Get vehicle angular acceleration in vehicle-fixed reference frame. More...

Eigen::Vector4d	getAttitudeDerivative (const Eigen::Quaterniond &attitude, const Eigen::Vector3d &angularVelocity)
	Get attitude quaternion time-derivative. More...

void	vectorAffineOp (const std::vector< double > &vec1, const std::vector< double > &vec2, std::vector< double > &vec3, double val)
	Element-wise affine vector calculus: vec3 = vec1 + val*vec2. More...

void	vectorScalarProd (const std::vector< double > &vec1, std::vector< double > &vec2, double val)
	Vector-scalar product: vec2 = val*vec1. More...

void	vectorBoundOp (const std::vector< double > &vec1, std::vector< double > &vec2, const std::vector< double > &minvec, const std::vector< double > &maxvec)
	Element-wise vector bound operation: vec2 = max(minvalue, min(maxvalue, vec1)) More...

Detailed Description

Multicopter dynamics simulator class.

Definition at line 20 of file multicopterDynamicsSim.hpp.

Constructor & Destructor Documentation

◆ MulticopterDynamicsSim() [1/2]

MulticopterDynamicsSim::MulticopterDynamicsSim	(	int	numCopter,
		double	thrustCoefficient,
		double	torqueCoefficient,
		double	minMotorSpeed,
		double	maxMotorSpeed,
		double	motorTimeConstant,
		double	motorRotationalInertia,
		double	vehicleMass,
		const Eigen::Matrix3d &	vehicleInertia,
		const Eigen::Matrix3d &	aeroMomentCoefficient,
		double	dragCoefficient,
		double	momentProcessNoiseAutoCorrelation,
		double	forceProcessNoiseAutoCorrelation,
		const Eigen::Vector3d &	gravity
	)

Construct a new Multicopter Dynamics Sim object.

Parameters

numCopter	Number of motors (e.g. 4 for a quadcopter)
thrustCoefficient	Motors thrust coefficient
torqueCoefficient	Motors torque coefficient
minMotorSpeed	Motors minimum rotation speed
maxMotorSpeed	Motors maximum rotation speed
motorTimeConstant	Motors time constant
motorRotationalInertia	Motors rotational mass moment of inertia (including propeller)
vehicleMass	Vehicle mass
vehicleInertia	Vehicle inertia matrix
aeroMomentCoefficient	Vehicle aerodynamic moment coefficient matrix
dragCoefficient	Vehicle drag coefficient
momentProcessNoiseAutoCorrelation	Vehicle dynamics stochastic moment process noise auto correlation
forceProcessNoiseAutoCorrelation	Vehicle dynamics stochastic force process noise auto correlation
gravity	Gravity vector in world-fixed reference frame

Definition at line 29 of file multicopterDynamicsSim.cpp.

◆ MulticopterDynamicsSim() [2/2]

MulticopterDynamicsSim::MulticopterDynamicsSim ( int numCopter )

Brief constructor for a new Multicopter Dynamics Sim object; vehicle properties must still be set seperately.

Parameters

numCopter Number of motors (e.g. 4 for a quadcopter)

Definition at line 82 of file multicopterDynamicsSim.cpp.

Member Function Documentation

◆ getAeroMoment()

Eigen::Vector3d MulticopterDynamicsSim::getAeroMoment ( const Eigen::Vector3d & angularVelocity )

private

Get aerodynamic moment in vehicle-fixed reference frame.

Parameters

angularVelocity Vehicle angular velocity

Returns: Eigen::Vector3d Aerodynamic moment vector

Definition at line 406 of file multicopterDynamicsSim.cpp.

◆ getAngularVelocityDerivative()

Eigen::Vector3d MulticopterDynamicsSim::getAngularVelocityDerivative	(	const std::vector< double > &	motorSpeed,
		const std::vector< double > &	motorAcceleration,
		const Eigen::Vector3d &	angularVelocity,
		const Eigen::Vector3d &	stochMoment
	)

private

Get vehicle angular acceleration in vehicle-fixed reference frame.

Parameters

motorSpeed	Vector of motor speeds
motorAcceleration	Vector of motor accelerations
angularVelocity	Vehicle angular velocity
stochMoment	Stochastic moment vector

Returns: Eigen::Vector3d Angular acceleration

Definition at line 712 of file multicopterDynamicsSim.cpp.

◆ getAttitudeDerivative()

Eigen::Vector4d MulticopterDynamicsSim::getAttitudeDerivative	(	const Eigen::Quaterniond &	attitude,
		const Eigen::Vector3d &	angularVelocity
	)

private

Get attitude quaternion time-derivative.

Parameters

attitude	Vehicle attitude
angularVelocity	Vehicle angular velocity in vehicle-fixed reference frame

Returns: Eigen::Vector4d Attitude derivative

Definition at line 695 of file multicopterDynamicsSim.cpp.

◆ getControlMoment()

Eigen::Vector3d MulticopterDynamicsSim::getControlMoment	(	const std::vector< double > &	motorSpeed,
		const std::vector< double > &	motorAcceleration
	)

private

Get control moment in vehicle-fixed reference frame.

Parameters

motorSpeed	Vector of motor speeds
motorAcceleration	Vector of motor accelerations

Returns: Eigen::Vector3d Moment vector

Definition at line 383 of file multicopterDynamicsSim.cpp.

◆ getDragForce()

Eigen::Vector3d MulticopterDynamicsSim::getDragForce ( const Eigen::Vector3d & velocity )

private

Get drag force in world-fixed reference frame.

Parameters

velocity Vehicle velocity in world-fixed reference frame

Returns: Eigen::Vector3d Drag force vector

Definition at line 416 of file multicopterDynamicsSim.cpp.

◆ getIMUMeasurement()

void MulticopterDynamicsSim::getIMUMeasurement	(	Eigen::Vector3d &	accOutput,
		Eigen::Vector3d &	gyroOutput
	)

Get IMU measurement.

Parameters

accOutput	Ouput accelerometer measurement
gyroOutput	Ouput gyroscope measurement

Definition at line 426 of file multicopterDynamicsSim.cpp.

◆ getMotorSpeedDerivative()

void MulticopterDynamicsSim::getMotorSpeedDerivative	(	std::vector< double > &	motorSpeedDer,
		const std::vector< double > &	motorSpeed,
		const std::vector< double > &	motorSpeedCommand
	)

private

Get motor acceleration.

Parameters

motorSpeedDer	Output vector of accelerationa
motorSpeed	Motor speeds vector
motorSpeedCommand	Motor commanded speeds vector

Definition at line 666 of file multicopterDynamicsSim.cpp.

◆ getMotorsSpeed()

const std::vector< double > & MulticopterDynamicsSim::getMotorsSpeed ( ) const

Definition at line 332 of file multicopterDynamicsSim.cpp.

◆ getThrust()

Eigen::Vector3d MulticopterDynamicsSim::getThrust ( const std::vector< double > & motorSpeed )

private

Get thrust in vehicle-fixed reference frame.

Parameters

motorSpeed Vector containing motor speeds

Returns: Eigen::Vector3d Thrust vector

Definition at line 366 of file multicopterDynamicsSim.cpp.

◆ getTotalForce()

Eigen::Vector3d MulticopterDynamicsSim::getTotalForce ( void )

private

Get total force acting on vehicle, including gravity force.

Returns: Eigen::Vector3d Total force in vehicle-fixed reference frame

Definition at line 355 of file multicopterDynamicsSim.cpp.

◆ getVehicleAngularVelocity()

Eigen::Vector3d MulticopterDynamicsSim::getVehicleAngularVelocity ( void )

Get vehicle angular velocity.

Returns: Eigen::Vector3d Angular velocity in vehicle-fixed reference frame

Definition at line 328 of file multicopterDynamicsSim.cpp.

◆ getVehicleAttitude()

Eigen::Quaterniond MulticopterDynamicsSim::getVehicleAttitude ( void )

Get vehicle attitude.

Returns: Eigen::Quaterniond Vehicle attitude quaternion

Definition at line 310 of file multicopterDynamicsSim.cpp.

◆ getVehiclePosition()

Eigen::Vector3d MulticopterDynamicsSim::getVehiclePosition ( void )

Get vehicle position.

Returns: Eigen::Vector3d Position in world-fixed reference frame

Definition at line 301 of file multicopterDynamicsSim.cpp.

◆ getVehicleSpecificForce()

Eigen::Vector3d MulticopterDynamicsSim::getVehicleSpecificForce ( void )

private

Get total specific force acting on vehicle, excluding gravity force.

Returns: Eigen::Vector3d Specific force in vehicle-fixed reference frame

Definition at line 341 of file multicopterDynamicsSim.cpp.

◆ getVehicleState()

void MulticopterDynamicsSim::getVehicleState	(	Eigen::Vector3d &	position,
		Eigen::Vector3d &	velocity,
		Eigen::Vector3d &	angularVelocity,
		Eigen::Quaterniond &	attitude,
		std::vector< double > &	motorSpeed
	)

Get vehicle state.

Parameters

position	Position in world-fixed reference frame output
velocity	Velocity in world-fixed reference frame output
angularVelocity	Angular velocity in vehicle-fixed reference frame output
attitude	Vehilce attitude quaternion output
motorSpeed	Vector with motor speeds for all motors output

Definition at line 284 of file multicopterDynamicsSim.cpp.

◆ getVehicleVelocity()

Eigen::Vector3d MulticopterDynamicsSim::getVehicleVelocity ( void )

Get vehicle velocity.

Returns: Eigen::Vector3d Velocity in world-fixed reference frame

Definition at line 319 of file multicopterDynamicsSim.cpp.

◆ getVelocityDerivative()

Eigen::Vector3d MulticopterDynamicsSim::getVelocityDerivative	(	const Eigen::Quaterniond &	attitude,
		const Eigen::Vector3d &	stochForce,
		const Eigen::Vector3d &	velocity,
		const std::vector< double > &	motorSpeed
	)

private

Get vehicle accelertion in world-fixed reference frame.

Parameters

attitude	Vehicle attitude
stochForce	Stochastic force vecotr
velocity	Vehicle velocity
motorSpeed	Motor speeds vector

Returns: Eigen::Vector3d Acceleration vector

Definition at line 683 of file multicopterDynamicsSim.cpp.

◆ proceedState_ExplicitEuler()

void MulticopterDynamicsSim::proceedState_ExplicitEuler	(	double	dt_secs,
		const std::vector< double > &	motorSpeedCommandIn,
		bool	isCmdPercent = `false`
	)

Proceed vehicle dynamics using Explicit Euler integration.

Parameters

dt_secs	Time step
motorSpeedCommand	Motor speed commands

Definition at line 443 of file multicopterDynamicsSim.cpp.

◆ proceedState_RK4()

void MulticopterDynamicsSim::proceedState_RK4	(	double	dt_secs,
		const std::vector< double > &	motorSpeedCommandIn,
		bool	isCmdPercent = `false`
	)

Proceed vehicle dynamics using 4th order Runge-Kutta integration.

Parameters

dt_secs	Time step
motorSpeedCommand	Motor speed commands

Definition at line 504 of file multicopterDynamicsSim.cpp.

◆ resetMotorSpeeds()

void MulticopterDynamicsSim::resetMotorSpeeds ( void )

Set motor speed to zero for all motors.

Definition at line 225 of file multicopterDynamicsSim.cpp.

◆ setGravityVector()

void MulticopterDynamicsSim::setGravityVector ( const Eigen::Vector3d & gravity )

Set orientation of world-fixed reference frame using gravity vector.

Parameters

gravity Gravity vector in world-fixed reference frame

Definition at line 141 of file multicopterDynamicsSim.cpp.

◆ setMotorFrame()

void MulticopterDynamicsSim::setMotorFrame	(	const Eigen::Isometry3d &	motorFrame,
		int	motorDirection,
		int	motorIndex
	)

Set orientation and position for individual motor.

Parameters

motorFrame	Motor orientation and position with regard to body-fixed reference frame
motorDirection	Motor rotation direction +1 if positive motor speed corresponds to positive moment around the motor frame z-axis -1 if positive motor speed corresponds to negative moment around the motor frame z-axis i.e. -1 indicates a positive motor speed corresponds to a positive rotation rate around the motor z-axis
motorIndex	Motor index number

Definition at line 155 of file multicopterDynamicsSim.cpp.

◆ setMotorProperties() [1/2]

void MulticopterDynamicsSim::setMotorProperties	(	double	thrustCoefficient,
		double	torqueCoefficient,
		double	motorTimeConstant,
		double	minMotorSpeed,
		double	maxMotorSpeed,
		double	rotationalInertia
	)

Set properties for all motors.

Parameters

thrustCoefficient	Motor thrust coefficient
torqueCoefficient	Motor torque coefficient
motorTimeConstant	Motor time constant
minMotorSpeed	Minimum motor rotation speed
maxMotorSpeed	Maximum motor rotation speed
rotationalInertia	Motor moment of inertia

Definition at line 191 of file multicopterDynamicsSim.cpp.

◆ setMotorProperties() [2/2]

void MulticopterDynamicsSim::setMotorProperties	(	double	thrustCoefficient,
		double	torqueCoefficient,
		double	motorTimeConstant,
		double	minMotorSpeed,
		double	maxMotorSpeed,
		double	rotationalInertia,
		int	motorIndex
	)

Set properties for individual motor.

Parameters

thrustCoefficient	Motor thrust coefficient
torqueCoefficient	Motor torque coefficient
motorTimeConstant	Motor time constant
minMotorSpeed	Minimum motor rotation speed
maxMotorSpeed	Maximum motor rotation speed
rotationalInertia	Motor moment of inertia
motorIndex	Motor index number

Definition at line 171 of file multicopterDynamicsSim.cpp.

◆ setMotorSpeed() [1/2]

void MulticopterDynamicsSim::setMotorSpeed ( double motorSpeed )

Set motor speed for all motors.

Parameters

motorSpeed Motor speed value

Definition at line 215 of file multicopterDynamicsSim.cpp.

◆ setMotorSpeed() [2/2]

void MulticopterDynamicsSim::setMotorSpeed	(	double	motorSpeed,
		int	motorIndex
	)

Set motor speed for individual motor.

Parameters

motorSpeed	Motor speed value
motorIndex	Motor index number

Definition at line 205 of file multicopterDynamicsSim.cpp.

◆ setVehicleInitialAttitude()

void MulticopterDynamicsSim::setVehicleInitialAttitude ( const Eigen::Quaterniond & attitude )

Definition at line 248 of file multicopterDynamicsSim.cpp.

◆ setVehiclePosition()

void MulticopterDynamicsSim::setVehiclePosition	(	const Eigen::Vector3d &	position,
		const Eigen::Quaterniond &	attitude
	)

Set vehicle position and attitude.

Parameters

position	Position in world-fixed reference frame
attitude	Vehilce attitude quaternion

Definition at line 237 of file multicopterDynamicsSim.cpp.

◆ setVehicleProperties()

void MulticopterDynamicsSim::setVehicleProperties	(	double	vehicleMass,
		const Eigen::Matrix3d &	vehicleInertia,
		const Eigen::Matrix3d &	aeroMomentCoefficient,
		double	dragCoefficient,
		double	momentProcessNoiseAutoCorrelation,
		double	forceProcessNoiseAutoCorrelation
	)

Set vehicle properties.

Parameters

vehicleMass	Vehicle mass
vehicleInertia	Vehicle inertia matrix
aeroMomentCoefficient	Vehicle aerodynamic moment coefficient matrix
dragCoefficient	Vehicle drag coefficient
momentProcessNoiseAutoCorrelation	Vehicle dynamics stochastic moment process noise auto correlation
forceProcessNoiseAutoCorrelation	Vehicle dynamics stochastic force process noise auto correlation

Definition at line 122 of file multicopterDynamicsSim.cpp.

◆ setVehicleState()

void MulticopterDynamicsSim::setVehicleState	(	const Eigen::Vector3d &	position,
		const Eigen::Vector3d &	velocity,
		const Eigen::Vector3d &	angularVelocity,
		const Eigen::Quaterniond &	attitude,
		const std::vector< double > &	motorSpeed
	)

Set vehicle state.

Parameters

position	Position in world-fixed reference frame
velocity	Velocity in world-fixed reference frame
angularVelocity	Angular velocity in vehicle-fixed reference frame
attitude	Vehilce attitude quaternion
motorSpeed	Vector with motor speeds for all motors

Definition at line 261 of file multicopterDynamicsSim.cpp.

◆ vectorAffineOp()

void MulticopterDynamicsSim::vectorAffineOp	(	const std::vector< double > &	vec1,
		const std::vector< double > &	vec2,
		std::vector< double > &	vec3,
		double	val
	)

private

Element-wise affine vector calculus: vec3 = vec1 + val*vec2.

Parameters

vec1	Vector addition term
vec2	Vector multiplication factor
vec3	Output resulting vector
val	Scalar multiplication factor

Definition at line 629 of file multicopterDynamicsSim.cpp.

◆ vectorBoundOp()

void MulticopterDynamicsSim::vectorBoundOp	(	const std::vector< double > &	vec1,
		std::vector< double > &	vec2,
		const std::vector< double > &	minvec,
		const std::vector< double > &	maxvec
	)

private

Element-wise vector bound operation: vec2 = max(minvalue, min(maxvalue, vec1))

Parameters

vec1	Input vector
vec2	Output vector
minvec	Vector of lower bounds
maxvec	Vector of upper bounds

Definition at line 642 of file multicopterDynamicsSim.cpp.

◆ vectorScalarProd()

void MulticopterDynamicsSim::vectorScalarProd	(	const std::vector< double > &	vec1,
		std::vector< double > &	vec2,
		double	val
	)

private

Vector-scalar product: vec2 = val*vec1.

Parameters

vec1	Input vector
vec2	Output vector
val	Scalar multiplication

Definition at line 655 of file multicopterDynamicsSim.cpp.

Member Data Documentation

◆ aeroMomentCoefficient_

Eigen::Matrix3d MulticopterDynamicsSim::aeroMomentCoefficient_

private

Definition at line 103 of file multicopterDynamicsSim.hpp.

◆ angularVelocity_

Eigen::Vector3d MulticopterDynamicsSim::angularVelocity_ = Eigen::Vector3d::Zero()

private

Definition at line 125 of file multicopterDynamicsSim.hpp.

◆ attitude_

Eigen::Quaterniond MulticopterDynamicsSim::attitude_ = Eigen::Quaterniond::Identity()

private

Definition at line 126 of file multicopterDynamicsSim.hpp.

◆ default_attitude_

Eigen::Quaterniond MulticopterDynamicsSim::default_attitude_ = Eigen::Quaterniond::Identity()

private

Definition at line 127 of file multicopterDynamicsSim.hpp.

◆ dragCoefficient_

double MulticopterDynamicsSim::dragCoefficient_

private

Definition at line 102 of file multicopterDynamicsSim.hpp.

◆ forceProcessNoiseAutoCorrelation_

double MulticopterDynamicsSim::forceProcessNoiseAutoCorrelation_ = 0.

private

Definition at line 107 of file multicopterDynamicsSim.hpp.

◆ gravity_

Eigen::Vector3d MulticopterDynamicsSim::gravity_

private

Definition at line 118 of file multicopterDynamicsSim.hpp.

◆ imu_

inertialMeasurementSim MulticopterDynamicsSim::imu_ = inertialMeasurementSim(0.,0.,0.,0.)

Definition at line 71 of file multicopterDynamicsSim.hpp.

◆ maxMotorSpeed_

std::vector<double> MulticopterDynamicsSim::maxMotorSpeed_

private

Definition at line 96 of file multicopterDynamicsSim.hpp.

◆ minMotorSpeed_

std::vector<double> MulticopterDynamicsSim::minMotorSpeed_

private

Definition at line 97 of file multicopterDynamicsSim.hpp.

◆ momentProcessNoiseAutoCorrelation_

double MulticopterDynamicsSim::momentProcessNoiseAutoCorrelation_ = 0.

private

Definition at line 106 of file multicopterDynamicsSim.hpp.

◆ motorDirection_

std::vector<int> MulticopterDynamicsSim::motorDirection_

private

Definition at line 90 of file multicopterDynamicsSim.hpp.

◆ motorFrame_

std::vector<Eigen::Isometry3d> MulticopterDynamicsSim::motorFrame_

private

Definition at line 84 of file multicopterDynamicsSim.hpp.

◆ motorRotationalInertia_

std::vector<double> MulticopterDynamicsSim::motorRotationalInertia_

private

Definition at line 95 of file multicopterDynamicsSim.hpp.

◆ motorSpeed_

std::vector<double> MulticopterDynamicsSim::motorSpeed_

private

Definition at line 122 of file multicopterDynamicsSim.hpp.

◆ motorTimeConstant_

std::vector<double> MulticopterDynamicsSim::motorTimeConstant_

private

Definition at line 94 of file multicopterDynamicsSim.hpp.

◆ numCopter_

int MulticopterDynamicsSim::numCopter_

private

Definition at line 75 of file multicopterDynamicsSim.hpp.

◆ position_

Eigen::Vector3d MulticopterDynamicsSim::position_ = Eigen::Vector3d::Zero()

private

Definition at line 124 of file multicopterDynamicsSim.hpp.

◆ randomNumberGenerator_

std::default_random_engine MulticopterDynamicsSim::randomNumberGenerator_

private

Definition at line 112 of file multicopterDynamicsSim.hpp.

◆ standardNormalDistribution_

std::normal_distribution<double> MulticopterDynamicsSim::standardNormalDistribution_ = std::normal_distribution<double>(0.0,1.0)

private

Definition at line 113 of file multicopterDynamicsSim.hpp.

◆ stochForce_

Eigen::Vector3d MulticopterDynamicsSim::stochForce_ = Eigen::Vector3d::Zero()

private

Definition at line 134 of file multicopterDynamicsSim.hpp.

◆ thrustCoefficient_

std::vector<double> MulticopterDynamicsSim::thrustCoefficient_

private

Definition at line 92 of file multicopterDynamicsSim.hpp.

◆ torqueCoefficient_

std::vector<double> MulticopterDynamicsSim::torqueCoefficient_

private

Definition at line 93 of file multicopterDynamicsSim.hpp.

◆ vehicleInertia_

Eigen::Matrix3d MulticopterDynamicsSim::vehicleInertia_

private

Definition at line 105 of file multicopterDynamicsSim.hpp.

◆ vehicleMass_

double MulticopterDynamicsSim::vehicleMass_

private

Definition at line 104 of file multicopterDynamicsSim.hpp.

◆ velocity_

Eigen::Vector3d MulticopterDynamicsSim::velocity_ = Eigen::Vector3d::Zero()

private

Definition at line 123 of file multicopterDynamicsSim.hpp.

The documentation for this class was generated from the following files:

Public Member Functions

Public Attributes

Private Attributes

Vehicle stochastic force vector

Detailed Description

Constructor & Destructor Documentation

◆ MulticopterDynamicsSim() [1/2]

◆ MulticopterDynamicsSim() [2/2]

Member Function Documentation

◆ getAeroMoment()

◆ getAngularVelocityDerivative()

◆ getAttitudeDerivative()

◆ getControlMoment()

◆ getDragForce()

◆ getIMUMeasurement()

◆ getMotorSpeedDerivative()

◆ getMotorsSpeed()

◆ getThrust()

◆ getTotalForce()

◆ getVehicleAngularVelocity()

◆ getVehicleAttitude()

◆ getVehiclePosition()

◆ getVehicleSpecificForce()

◆ getVehicleState()

◆ getVehicleVelocity()

◆ getVelocityDerivative()

◆ proceedState_ExplicitEuler()

◆ proceedState_RK4()

◆ resetMotorSpeeds()

◆ setGravityVector()

◆ setMotorFrame()

◆ setMotorProperties() [1/2]

◆ setMotorProperties() [2/2]

◆ setMotorSpeed() [1/2]

◆ setMotorSpeed() [2/2]

◆ setVehicleInitialAttitude()

◆ setVehiclePosition()

◆ setVehicleProperties()

◆ setVehicleState()

◆ vectorAffineOp()

◆ vectorBoundOp()

◆ vectorScalarProd()

Member Data Documentation

◆ aeroMomentCoefficient_

◆ angularVelocity_

◆ attitude_

◆ default_attitude_

◆ dragCoefficient_

◆ forceProcessNoiseAutoCorrelation_

◆ gravity_

◆ imu_

◆ maxMotorSpeed_

◆ minMotorSpeed_

◆ momentProcessNoiseAutoCorrelation_

◆ motorDirection_

◆ motorFrame_

◆ motorRotationalInertia_

◆ motorSpeed_

◆ motorTimeConstant_

◆ numCopter_

◆ position_

◆ randomNumberGenerator_

◆ standardNormalDistribution_

◆ stochForce_

◆ thrustCoefficient_

◆ torqueCoefficient_

◆ vehicleInertia_

◆ vehicleMass_

◆ velocity_