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Model2DRigidLander Class Reference

A rigid body with two small side thrusters, and a larger lower thruster. The goal is to navigate and softly "land" the craft by firing thrusters, in spite of gravity. More...

#include <model2d.h>

Inheritance diagram for Model2DRigidLander::

Model2DRigid Model2D Model List of all members.

Public Methods

 Model2DRigidLander (string path)
virtual ~Model2DRigidLander ()
MSLVector Integrate (const MSLVector &x, const MSLVector &u, const double &h)
 Perform integration from state x, using input u, over time step h.

virtual MSLVector StateToConfiguration (const MSLVector &x)
 A method that converts a Model state in to a Geom configuration.

virtual MSLVector StateTransitionEquation (const MSLVector &x, const MSLVector &u)
 The state transition equation, or equations of motion, xdot=f(x,u).

virtual double Metric (const MSLVector &x1, const MSLVector &x2)
 A distance metric, which is Euclidean in the base class.


Public Attributes

double Mass
 Mass in kg.

double G
 Accel of gravity (m/s^2).

double Fs
 Side thruster force.

double Fu
 Upward thruster force.

Detailed Description

A rigid body with two small side thrusters, and a larger lower thruster. The goal is to navigate and softly "land" the craft by firing thrusters, in spite of gravity.

Constructor & Destructor Documentation

Model2DRigidLander::Model2DRigidLander ( string path )
 

Model2DRigidLander::~Model2DRigidLander ( ) [inline, virtual]
 

Member Function Documentation

MSLVector Model2DRigidLander::Integrate ( const MSLVector & x,
const MSLVector & u,
const double & h ) [virtual]
 

Perform integration from state x, using input u, over time step h.

Reimplemented from Model2DRigid.

virtual double Model2DRigidLander::Metric ( const MSLVector & x1,
const MSLVector & x2 ) [virtual]
 

A distance metric, which is Euclidean in the base class.

Reimplemented from Model2DRigid.

virtual MSLVector Model2DRigidLander::StateToConfiguration ( const MSLVector & x ) [virtual]
 

A method that converts a Model state in to a Geom configuration.

Reimplemented from Model2DRigid.

virtual MSLVector Model2DRigidLander::StateTransitionEquation ( const MSLVector & x,
const MSLVector & u ) [virtual]
 

The state transition equation, or equations of motion, xdot=f(x,u).

Reimplemented from Model2DRigid.

Member Data Documentation

double Model2DRigidLander::Fs
 

Side thruster force.

double Model2DRigidLander::Fu
 

Upward thruster force.

double Model2DRigidLander::G
 

Accel of gravity (m/s^2).

double Model2DRigidLander::Mass
 

Mass in kg.

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

Web page maintained by Steve LaValle
Partial support provided by NSF CAREER Award IRI-970228 (LaValle), Honda Research.
Contributors: Anna Atramentov, Peng Cheng, James Kuffner, Steve LaValle, and Libo Yang.