ct::models::quadrotor Namespace Reference

Typedefs
typedef Eigen::Matrix< double, nStates, 1 >	state_vector_t
typedef Eigen::Matrix< double, nControls, 1 >	control_vector_t
typedef Eigen::Matrix< double, nStates, nStates >	state_matrix_t
typedef Eigen::Matrix< double, nControls, nControls >	control_matrix_t
typedef Eigen::Matrix< double, nStates, nControls >	control_gain_matrix_t

Enumerations
enum	ROTORS {   ROTOR_1 = 0, ROTOR_2 = 1, ROTOR_3 = 2, ROTOR_4 = 3,   N_ROTORS }

Functions
const Eigen::Vector4d	kFs (kF, kF, kF, kF)
const Eigen::Vector4d	kMs (kM, kM, kM, kM)

Variables
const double	pi = 3.14159265
const double	mQ = 0.546
const double	Thxxyy = 2.32e-3
const double	Thzz = 3e-4
const double	arm_len = 0.175
const double	grav_const = 9.81
const double	f_hover = mQ * grav_const
const double	kF = 6.17092e-8 * 3600 / (2 * pi * 2 * pi)
const double	kM = 1.3167e-9 * 3600 / (2 * pi * 2 * pi)
const double	wmax = 7800.0 * 2 * pi / 60
const double	wmin = 1200.0 * 2 * pi / 60
const double	Fsat_min = kF * wmin * wmin
const double	Fsat_max = kF * wmax * wmax
const double	arm_width = arm_len / 8.0
const double	rotorDiameter = 2.0 * 0.1
const double	rotorHeight = rotorDiameter * 0.1
const Eigen::Vector3d	rotorPositions [N_ROTORS]
const size_t	nStates = 12
const size_t	nControls = 4

Typedef Documentation

state_vector_t

typedef Eigen::Matrix<double, nStates, 1> ct::models::quadrotor::state_vector_t

control_vector_t

typedef Eigen::Matrix<double, nControls, 1> ct::models::quadrotor::control_vector_t

state_matrix_t

typedef Eigen::Matrix<double, nStates, nStates> ct::models::quadrotor::state_matrix_t

control_matrix_t

typedef Eigen::Matrix<double, nControls, nControls> ct::models::quadrotor::control_matrix_t

control_gain_matrix_t

typedef Eigen::Matrix<double, nStates, nControls> ct::models::quadrotor::control_gain_matrix_t

Enumeration Type Documentation

ROTORS

enum ct::models::quadrotor::ROTORS

Enumerator
ROTOR_1
ROTOR_2
ROTOR_3
ROTOR_4
N_ROTORS

Function Documentation

kFs()

const Eigen::Vector4d ct::models::quadrotor::kFs	(	kF	,
		kF	,
		kF	,
		kF
	)

kMs()

const Eigen::Vector4d ct::models::quadrotor::kMs	(	kM	,
		kM	,
		kM	,
		kM
	)

Variable Documentation

pi

const double ct::models::quadrotor::pi = 3.14159265

mQ

const double ct::models::quadrotor::mQ = 0.546

Referenced by ct::models::A_quadrotor(), ct::models::B_quadrotor(), ct::models::C_quadrotor(), and ct::models::quadrotor_ode().

Thxxyy

const double ct::models::quadrotor::Thxxyy = 2.32e-3

Referenced by ct::models::A_quadrotor(), ct::models::B_quadrotor(), ct::models::C_quadrotor(), and ct::models::quadrotor_ode().

Thzz

const double ct::models::quadrotor::Thzz = 3e-4

Referenced by ct::models::A_quadrotor(), ct::models::B_quadrotor(), ct::models::C_quadrotor(), and ct::models::quadrotor_ode().

arm_len

const double ct::models::quadrotor::arm_len = 0.175

grav_const

const double ct::models::quadrotor::grav_const = 9.81

f_hover

const double ct::models::quadrotor::f_hover = mQ * grav_const

kF

const double ct::models::quadrotor::kF = 6.17092e-8 * 3600 / (2 * pi * 2 * pi)

kM

const double ct::models::quadrotor::kM = 1.3167e-9 * 3600 / (2 * pi * 2 * pi)

wmax

const double ct::models::quadrotor::wmax = 7800.0 * 2 * pi / 60

wmin

const double ct::models::quadrotor::wmin = 1200.0 * 2 * pi / 60

Fsat_min

const double ct::models::quadrotor::Fsat_min = kF * wmin * wmin

Fsat_max

const double ct::models::quadrotor::Fsat_max = kF * wmax * wmax

arm_width

const double ct::models::quadrotor::arm_width = arm_len / 8.0

rotorDiameter

const double ct::models::quadrotor::rotorDiameter = 2.0 * 0.1

rotorHeight

const double ct::models::quadrotor::rotorHeight = rotorDiameter * 0.1

rotorPositions

const Eigen::Vector3d ct::models::quadrotor::rotorPositions[N_ROTORS]

Initial value:

= {Eigen::Vector3d(arm_len, 0.0, arm_width / 2.0),
    Eigen::Vector3d(0.0, arm_len, arm_width / 2.0), Eigen::Vector3d(-arm_len, 0.0, arm_width / 2.0),
    Eigen::Vector3d(0.0, -arm_len, arm_width / 2.0)}

nStates

const size_t ct::models::quadrotor::nStates = 12

nControls

const size_t ct::models::quadrotor::nControls = 4