bitrl::dynamics Namespace Reference

Classes
class	BicycleVehicleModelDynamics
	The BicycleVehicleModelDynamics class. Implements the bicycle vehicle model dynamics. The implementation of the dynamics is taken from the paper: Deep Reinforcement Learning for Mobile Robot Path Planning by Hao Liu, Yi Shen, Shuangjiang Yu, Zijun Gao, Tong Wu The state of the model is described by the tuple (X, Y, Phi) where (X,Y) denotes the 2D position of the vehicle in the world coordinates and phi denotes the heading of the vehicle. More...
struct	BicycleVehicleModelDynamicsConfig
class	DiffDriveDynamics
	DiffDriveDynamics class. Describes the motion dynamics of a differential drive system. It implements the following equations. More...
class	DynamicsMatrixDescriptor
	The DynamicsMatrixDescriptor class. Helper class to model the matrix representon of dynamical systems. More...
class	MotionModelDynamicsBase
	Base class for deriving motion models. Motion models describe the dynamics or kinematics of a rigid body. More...
class	QuadrotorDynamics
	The QuadrotorDynamics class. Implements quadrotor dynamics The implementation of this class follows the System Modeling section at https://wilselby.com/research/arducopter/modeling/ and https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=2324&context=facpub The quadrotor is assumed to have four rotors Each rotor consists of a brushless DC motor and rotor with a fixed pitch. It is assumed that the quadrotor can move in 6 degrees of freedom; 3-translational and 3-rotational, The motion of the quadrotor is controlled via 4 inputs namely the speeds of the 4 motors. The quadrotor model that this class implements assumes the following: More...
struct	QuadrotorDynamicsConfig
class	SysState
	SysState utility class describing the state of a system. More...

Functions
template<int dim>
std::ostream &	operator<< (std::ostream &out, const SysState< dim > &state)

Function Documentation

operator<<()

template<int dim>

std::ostream & bitrl::dynamics::operator<< ( std::ostream &  out, const SysState< dim > &  state  )

inline