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

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

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

MSLVector LinearInterpolate (const MSLVector &x1, const MSLVector &x2, const double &a)
 Linearly interpolate two state while respecting topology. More...

virtual MSLVector StateDifference (const MSLVector &x1, const MSLVector &x2)
 Compute a MSLVector based on x2-x1. In R^n, the states are simply subtracted to make the MSLVector. This method exists to make things work correctly for other state-space topologies. More...

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


Public Attributes

double Mass
 Mass in kg. More...

double G
 Accel of gravity (m/s^2). More...

double Fs
 Side thruster force. More...

double Fu
 Upward thruster force. More...

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 ) 
 

virtual 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.

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

Linearly interpolate two state while respecting topology.

If a=0, then x1 is returned; if a=1, then x2 is returned. All intermediate values of $a \in [0,1]$ yield intermediate states. This method is defined by Model.

Reimplemented from Model2DRigid.

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

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

Reimplemented from Model2DRigid.

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

Compute a MSLVector based on x2-x1. In R^n, the states are simply subtracted to make the MSLVector. This method exists to make things work correctly for other state-space topologies.

Reimplemented from Model2DRigid.

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

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

Reimplemented from Model2DRigid.

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 files: Motion Strategy Library

Web page maintained by Steve LaValle