quadrotor_dynamics.h File Reference

#include "bitrl/bitrl_types.h"
#include "bitrl/dynamics/dynamics_matrix_descriptor.h"
#include "bitrl/dynamics/motion_model_base.h"
#include "bitrl/dynamics/system_state.h"
#include <any>

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Classes
struct	bitrl::dynamics::QuadrotorDynamicsConfig
class	bitrl::dynamics::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...

Namespaces
namespace	bitrl
namespace	bitrl::dynamics