quadrotor_dynamics_solver.h

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//
// Copyright (c) 2019, Wolfgang Merkt
// All rights reserved.
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#ifndef EXOTICA_QUADROTOR_DYNAMICS_SOLVER_QUADROTOR_DYNAMICS_SOLVER_H_
#define EXOTICA_QUADROTOR_DYNAMICS_SOLVER_QUADROTOR_DYNAMICS_SOLVER_H_
 
#include <exotica_core/dynamics_solver.h>
#include <exotica_core/scene.h>
 
#include <exotica_quadrotor_dynamics_solver/quadrotor_dynamics_solver_initializer.h>
 
namespace exotica
{
class QuadrotorDynamicsSolver : public DynamicsSolver, public Instantiable<QuadrotorDynamicsSolverInitializer>
{
public:
    QuadrotorDynamicsSolver();
 
    void AssignScene(ScenePtr scene_in) override;
 
    StateVector f(const StateVector& x, const ControlVector& u) override;
    Eigen::MatrixXd fx(const StateVector& x, const ControlVector& u) override;
    Eigen::MatrixXd fu(const StateVector& x, const ControlVector& u) override;
 
private:
    Eigen::Matrix3d J_;      
    Eigen::Matrix3d J_inv_;  
 
    double mass_ = .5;   
    double g_ = 9.81;    
    double L_ = 0.1750;  
 
    // these are measured in rpm * 10^3
    //  this means we multiply here by 10^6 (since it varies with omega^2)
    //
    // Additionally, we assume we control the thrust directly,
    //  which leads to the following simplification:
    double k_f_ = 1;       
    double k_m_ = 0.0245;  
 
    // double b_ = 0.0245;  ///< Drag
};
}  // namespace exotica
 
#endif  // EXOTICA_QUADROTOR_DYNAMICS_SOLVER_QUADROTOR_DYNAMICS_SOLVER_H_