#include <QuadrotorWithLoadFDSystem.h>

Inheritance diagram for ct::rbd::QuadrotorWithLoadFDSystem< RBDDynamics, QUAT_INTEGRATION >:

Public Types
using	Dynamics = RBDDynamics

using	Kinematics = typename RBDDynamics::Kinematics_t

typedef RBDDynamics::SCALAR	SCALAR

typedef core::ControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >	Base

Public Types inherited from ct::core::ControlledSystem< RBDDynamics::NSTATE+QUAT_INTEGRATION, 4, RBDDynamics::SCALAR >
typedef std::shared_ptr< ControlledSystem< RBDDynamics::NSTATE+QUAT_INTEGRATION, 4, RBDDynamics::SCALAR > >	Ptr

typedef Base::time_t	time_t

Public Types inherited from ct::core::System< STATE_DIM, SCALAR >
typedef SCALAR	time_t

Public Member Functions
	QuadrotorWithLoadFDSystem ()

	QuadrotorWithLoadFDSystem (const QuadrotorWithLoadFDSystem &arg)

virtual	~QuadrotorWithLoadFDSystem ()

virtual RBDDynamics &	dynamics () override

virtual const RBDDynamics &	dynamics () const override

void	computeControlledDynamics (const core::StateVector< STATE_DIM, SCALAR > &state, const core::Time &t, const core::ControlVector< CONTROL_DIM, SCALAR > &control, core::StateVector< STATE_DIM, SCALAR > &derivative) override

void	mapControlInputsToLinkForces (const typename RBDDynamics::RBDState_t &state, const core::ControlVector< CONTROL_DIM, SCALAR > &control, typename RBDDynamics::ExtLinkForces_t &linkForces)

RBDDynamics::RBDState_t	RBDStateFromVector (const core::StateVector< STATE_DIM, SCALAR > &state)

template<bool T>
RBDDynamics::RBDState_t	RBDStateFromVectorImpl (const core::StateVector< STATE_DIM, SCALAR > &state, typename std::enable_if< T, bool >::type=true)

template<bool T>
RBDDynamics::RBDState_t	RBDStateFromVectorImpl (const core::StateVector< STATE_DIM, SCALAR > &state, typename std::enable_if<!T, bool >::type=true)

template<bool T>
core::StateVector< STATE_DIM >	toStateDerivative (const typename RBDDynamics::RBDAcceleration_t &acceleration, const typename RBDDynamics::RBDState_t &state, typename std::enable_if< T, bool >::type=true)

template<bool T>
core::StateVector< STATE_DIM >	toStateDerivative (const typename RBDDynamics::RBDAcceleration_t &acceleration, const typename RBDDynamics::RBDState_t &state, typename std::enable_if<!T, bool >::type=true)

virtual QuadrotorWithLoadFDSystem< RBDDynamics, QUAT_INTEGRATION > *	clone () const override

Public Member Functions inherited from ct::rbd::RBDSystem< RBDDynamics, QUAT_INTEGRATION >
	RBDSystem ()=default

virtual	~RBDSystem ()=default

Public Member Functions inherited from ct::core::ControlledSystem< RBDDynamics::NSTATE+QUAT_INTEGRATION, 4, RBDDynamics::SCALAR >
	ControlledSystem (const SYSTEM_TYPE &type=SYSTEM_TYPE::GENERAL)

	ControlledSystem (std::shared_ptr< ct::core::Controller< RBDDynamics::NSTATE+QUAT_INTEGRATION, 4, RBDDynamics::SCALAR >> controller, const SYSTEM_TYPE &type=SYSTEM_TYPE::GENERAL)

	ControlledSystem (const ControlledSystem &arg)

virtual	~ControlledSystem ()

void	setController (const std::shared_ptr< Controller< RBDDynamics::NSTATE+QUAT_INTEGRATION, 4, RBDDynamics::SCALAR >> &controller)

void	getController (std::shared_ptr< Controller< RBDDynamics::NSTATE+QUAT_INTEGRATION, 4, RBDDynamics::SCALAR >> &controller) const

std::shared_ptr< Controller< RBDDynamics::NSTATE+QUAT_INTEGRATION, 4, RBDDynamics::SCALAR > >	getController ()

virtual void	computeDynamics (const StateVector< RBDDynamics::NSTATE+QUAT_INTEGRATION, RBDDynamics::SCALAR > &state, const time_t &t, StateVector< RBDDynamics::NSTATE+QUAT_INTEGRATION, RBDDynamics::SCALAR > &derivative) override

virtual void	computeControlledDynamics (const StateVector< RBDDynamics::NSTATE+QUAT_INTEGRATION, RBDDynamics::SCALAR > &state, const time_t &t, const ControlVector< 4, RBDDynamics::SCALAR > &control, StateVector< RBDDynamics::NSTATE+QUAT_INTEGRATION, RBDDynamics::SCALAR > &derivative)=0

ControlVector< 4, RBDDynamics::SCALAR >	getLastControlAction ()

Public Member Functions inherited from ct::core::System< STATE_DIM, SCALAR >
	System (const SYSTEM_TYPE &type=SYSTEM_TYPE::GENERAL)

	System (const System &other)

virtual	~System ()

virtual void	computeDynamics (const StateVector< STATE_DIM, SCALAR > &state, const time_t &t, StateVector< STATE_DIM, SCALAR > &derivative)=0

SYSTEM_TYPE	getType () const

virtual bool	isSymplectic () const

Static Public Attributes
static const size_t	STATE_DIM = RBDDynamics::NSTATE + QUAT_INTEGRATION

static const size_t	CONTROL_DIM = 4

Additional Inherited Members
Public Attributes inherited from ct::core::ControlledSystem< RBDDynamics::NSTATE+QUAT_INTEGRATION, 4, RBDDynamics::SCALAR >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef System< RBDDynamics::NSTATE+QUAT_INTEGRATION, RBDDynamics::SCALAR >	Base

Public Attributes inherited from ct::core::System< STATE_DIM, SCALAR >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef SCALAR	S

Protected Attributes inherited from ct::core::ControlledSystem< RBDDynamics::NSTATE+QUAT_INTEGRATION, 4, RBDDynamics::SCALAR >
std::shared_ptr< Controller< RBDDynamics::NSTATE+QUAT_INTEGRATION, 4, RBDDynamics::SCALAR > >	controller_

ControlVector< 4, RBDDynamics::SCALAR >	controlAction_

Protected Attributes inherited from ct::core::System< STATE_DIM, SCALAR >
SYSTEM_TYPE	type_

Member Typedef Documentation

◆ Dynamics

template<class RBDDynamics , bool QUAT_INTEGRATION = false>

using ct::rbd::QuadrotorWithLoadFDSystem< RBDDynamics, QUAT_INTEGRATION >::Dynamics = RBDDynamics

◆ Kinematics

template<class RBDDynamics , bool QUAT_INTEGRATION = false>

using ct::rbd::QuadrotorWithLoadFDSystem< RBDDynamics, QUAT_INTEGRATION >::Kinematics = typename RBDDynamics::Kinematics_t

◆ SCALAR

template<class RBDDynamics , bool QUAT_INTEGRATION = false>

typedef RBDDynamics::SCALAR ct::rbd::QuadrotorWithLoadFDSystem< RBDDynamics, QUAT_INTEGRATION >::SCALAR

◆ Base

template<class RBDDynamics , bool QUAT_INTEGRATION = false>

typedef core::ControlledSystem<STATE_DIM, CONTROL_DIM, SCALAR> ct::rbd::QuadrotorWithLoadFDSystem< RBDDynamics, QUAT_INTEGRATION >::Base

Constructor & Destructor Documentation

◆ QuadrotorWithLoadFDSystem() [1/2]

template<class RBDDynamics , bool QUAT_INTEGRATION = false>

ct::rbd::QuadrotorWithLoadFDSystem< RBDDynamics, QUAT_INTEGRATION >::QuadrotorWithLoadFDSystem ( )

inline

Referenced by ct::rbd::QuadrotorWithLoadFDSystem< RBDDynamics, QUAT_INTEGRATION >::clone().

◆ QuadrotorWithLoadFDSystem() [2/2]

template<class RBDDynamics , bool QUAT_INTEGRATION = false>

ct::rbd::QuadrotorWithLoadFDSystem< RBDDynamics, QUAT_INTEGRATION >::QuadrotorWithLoadFDSystem ( const QuadrotorWithLoadFDSystem< RBDDynamics, QUAT_INTEGRATION > & arg )

inline

◆ ~QuadrotorWithLoadFDSystem()

template<class RBDDynamics , bool QUAT_INTEGRATION = false>

virtual ct::rbd::QuadrotorWithLoadFDSystem< RBDDynamics, QUAT_INTEGRATION >::~QuadrotorWithLoadFDSystem ( )

inlinevirtual

Member Function Documentation

◆ dynamics() [1/2]

template<class RBDDynamics , bool QUAT_INTEGRATION = false>

virtual RBDDynamics& ct::rbd::QuadrotorWithLoadFDSystem< RBDDynamics, QUAT_INTEGRATION >::dynamics ( )

inlineoverridevirtual

Implements ct::rbd::RBDSystem< RBDDynamics, QUAT_INTEGRATION >.

◆ dynamics() [2/2]

template<class RBDDynamics , bool QUAT_INTEGRATION = false>

virtual const RBDDynamics& ct::rbd::QuadrotorWithLoadFDSystem< RBDDynamics, QUAT_INTEGRATION >::dynamics ( ) const

inlineoverridevirtual

Implements ct::rbd::RBDSystem< RBDDynamics, QUAT_INTEGRATION >.

◆ computeControlledDynamics()

template<class RBDDynamics , bool QUAT_INTEGRATION = false>

void ct::rbd::QuadrotorWithLoadFDSystem< RBDDynamics, QUAT_INTEGRATION >::computeControlledDynamics	(	const core::StateVector< STATE_DIM, SCALAR > &	state,
		const core::Time &	t,
		const core::ControlVector< CONTROL_DIM, SCALAR > &	control,
		core::StateVector< STATE_DIM, SCALAR > &	derivative
	)

inlineoverride

References ct::rbd::QuadrotorWithLoadFDSystem< RBDDynamics, QUAT_INTEGRATION >::mapControlInputsToLinkForces(), ct::rbd::QuadrotorWithLoadFDSystem< RBDDynamics, QUAT_INTEGRATION >::RBDStateFromVector(), and x.

◆ mapControlInputsToLinkForces()

template<class RBDDynamics , bool QUAT_INTEGRATION = false>

void ct::rbd::QuadrotorWithLoadFDSystem< RBDDynamics, QUAT_INTEGRATION >::mapControlInputsToLinkForces	(	const typename RBDDynamics::RBDState_t &	state,
		const core::ControlVector< CONTROL_DIM, SCALAR > &	control,
		typename RBDDynamics::ExtLinkForces_t &	linkForces
	)

inline

Referenced by ct::rbd::QuadrotorWithLoadFDSystem< RBDDynamics, QUAT_INTEGRATION >::computeControlledDynamics().

◆ RBDStateFromVector()

template<class RBDDynamics , bool QUAT_INTEGRATION = false>

RBDDynamics::RBDState_t ct::rbd::QuadrotorWithLoadFDSystem< RBDDynamics, QUAT_INTEGRATION >::RBDStateFromVector ( const core::StateVector< STATE_DIM, SCALAR > & state )

inline

Referenced by ct::rbd::QuadrotorWithLoadFDSystem< RBDDynamics, QUAT_INTEGRATION >::computeControlledDynamics().

◆ RBDStateFromVectorImpl() [1/2]

template<class RBDDynamics , bool QUAT_INTEGRATION = false>

template<bool T>

RBDDynamics::RBDState_t ct::rbd::QuadrotorWithLoadFDSystem< RBDDynamics, QUAT_INTEGRATION >::RBDStateFromVectorImpl	(	const core::StateVector< STATE_DIM, SCALAR > &	state,
		typename std::enable_if< T, bool >::type	= `true`
	)

inline

References ct::rbd::tpl::RigidBodyPose< SCALAR >::QUAT, and x.

◆ RBDStateFromVectorImpl() [2/2]

template<class RBDDynamics , bool QUAT_INTEGRATION = false>

template<bool T>

RBDDynamics::RBDState_t ct::rbd::QuadrotorWithLoadFDSystem< RBDDynamics, QUAT_INTEGRATION >::RBDStateFromVectorImpl	(	const core::StateVector< STATE_DIM, SCALAR > &	state,
		typename std::enable_if<!T, bool >::type	= `true`
	)

inline

References ct::rbd::tpl::RigidBodyPose< SCALAR >::EULER, and x.

◆ toStateDerivative() [1/2]

template<class RBDDynamics , bool QUAT_INTEGRATION = false>

template<bool T>

core::StateVector<STATE_DIM> ct::rbd::QuadrotorWithLoadFDSystem< RBDDynamics, QUAT_INTEGRATION >::toStateDerivative	(	const typename RBDDynamics::RBDAcceleration_t &	acceleration,
		const typename RBDDynamics::RBDState_t &	state,
		typename std::enable_if< T, bool >::type	= `true`
	)

inline

◆ toStateDerivative() [2/2]

template<class RBDDynamics , bool QUAT_INTEGRATION = false>

template<bool T>

core::StateVector<STATE_DIM> ct::rbd::QuadrotorWithLoadFDSystem< RBDDynamics, QUAT_INTEGRATION >::toStateDerivative	(	const typename RBDDynamics::RBDAcceleration_t &	acceleration,
		const typename RBDDynamics::RBDState_t &	state,
		typename std::enable_if<!T, bool >::type	= `true`
	)

inline

◆ clone()

template<class RBDDynamics , bool QUAT_INTEGRATION = false>

virtual QuadrotorWithLoadFDSystem<RBDDynamics, QUAT_INTEGRATION>* ct::rbd::QuadrotorWithLoadFDSystem< RBDDynamics, QUAT_INTEGRATION >::clone ( ) const

inlineoverridevirtual

Implements ct::core::ControlledSystem< RBDDynamics::NSTATE+QUAT_INTEGRATION, 4, RBDDynamics::SCALAR >.

References ct::rbd::QuadrotorWithLoadFDSystem< RBDDynamics, QUAT_INTEGRATION >::QuadrotorWithLoadFDSystem().

Member Data Documentation

◆ STATE_DIM

template<class RBDDynamics , bool QUAT_INTEGRATION = false>

const size_t ct::rbd::QuadrotorWithLoadFDSystem< RBDDynamics, QUAT_INTEGRATION >::STATE_DIM = RBDDynamics::NSTATE + QUAT_INTEGRATION

static

◆ CONTROL_DIM

template<class RBDDynamics , bool QUAT_INTEGRATION = false>

const size_t ct::rbd::QuadrotorWithLoadFDSystem< RBDDynamics, QUAT_INTEGRATION >::CONTROL_DIM = 4

static

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

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_models/include/ct/models/QuadrotorWithLoad/QuadrotorWithLoadFDSystem.h

Public Types

Public Member Functions

Static Public Attributes

Additional Inherited Members

Member Typedef Documentation

◆ Dynamics

◆ Kinematics

◆ SCALAR

◆ Base

Constructor & Destructor Documentation

◆ QuadrotorWithLoadFDSystem() [1/2]

◆ QuadrotorWithLoadFDSystem() [2/2]

◆ ~QuadrotorWithLoadFDSystem()

Member Function Documentation

◆ dynamics() [1/2]

◆ dynamics() [2/2]

◆ computeControlledDynamics()

◆ mapControlInputsToLinkForces()

◆ RBDStateFromVector()

◆ RBDStateFromVectorImpl() [1/2]

◆ RBDStateFromVectorImpl() [2/2]

◆ toStateDerivative() [1/2]

◆ toStateDerivative() [2/2]

◆ clone()

Member Data Documentation

◆ STATE_DIM

◆ CONTROL_DIM