- 3.0.2 models module.
QuadrotorDynamics.hpp
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1 /**********************************************************************************************************************
2 This file is part of the Control Toolbox (https://github.com/ethz-adrl/control-toolbox), copyright by ETH Zurich.
3 Licensed under the BSD-2 license (see LICENSE file in main directory)
4 **********************************************************************************************************************/
5 
6 
7 #pragma once
8 
9 #include <cmath>
10 
11 #include <ct/models/Quadrotor/quadrotor_definitions/quadModelParameters.hpp>
12 #include <ct/models/Quadrotor/quadrotor_dynamics/declarations.hpp>
13 
14 namespace ct {
15 namespace models {
16 
17 quadrotor::state_matrix_t A_quadrotor(const quadrotor::state_vector_t& x, const quadrotor::control_vector_t& u);
18 quadrotor::control_gain_matrix_t B_quadrotor(const quadrotor::state_vector_t& x, const quadrotor::control_vector_t& u);
19 quadrotor::state_vector_t quadrotor_ode(const quadrotor::state_vector_t& x, const quadrotor::control_vector_t& u);
20 
21 } // models
22 } // ct
ct::models::quadrotor::control_gain_matrix_t
Eigen::Matrix< double, nStates, nControls > control_gain_matrix_t
Definition: declarations.hpp:20
ct::models::quadrotor::control_vector_t
Eigen::Matrix< double, nControls, 1 > control_vector_t
Definition: declarations.hpp:16
ct::models::quadrotor_ode
quadrotor::state_vector_t quadrotor_ode(const quadrotor::state_vector_t &x, const quadrotor::control_vector_t &u)
Definition: quadrotor_ode.cpp:18
ct::models::quadrotor::state_matrix_t
Eigen::Matrix< double, nStates, nStates > state_matrix_t
Definition: declarations.hpp:18
ct::models::quadrotor::state_vector_t
Eigen::Matrix< double, nStates, 1 > state_vector_t
Definition: declarations.hpp:15
ct::models::B_quadrotor
quadrotor::control_gain_matrix_t B_quadrotor(const quadrotor::state_vector_t &x, const quadrotor::control_vector_t &u)
Definition: B_quadrotor.cpp:15
ct::models::A_quadrotor
quadrotor::state_matrix_t A_quadrotor(const quadrotor::state_vector_t &x, const quadrotor::control_vector_t &u)
Definition: A_quadrotor.cpp:14