Multicopter actuation model. More...

#include <multicopter-base.hpp>

Inheritance diagram for ActuationModelMultiCopterBaseTpl< _Scalar >:

Public Types
typedef ActuationModelAbstractTpl< Scalar >	Base

typedef ActuationDataAbstractTpl< Scalar >	Data

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBase::Matrix6xs	Matrix6xs

typedef MathBase::MatrixXs	MatrixXs

typedef _Scalar	Scalar

typedef StateMultibodyTpl< Scalar >	StateMultibody

typedef MathBase::VectorXs	VectorXs

Public Types inherited from ActuationModelAbstractTpl< _Scalar >
typedef ActuationDataAbstractTpl< Scalar >	ActuationDataAbstract

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBase::MatrixXs	MatrixXs

typedef StateAbstractTpl< Scalar >	StateAbstract

typedef MathBase::VectorXs	VectorXs

Public Member Functions
virtual void	calc (const std::shared_ptr< Data > &data, const Eigen::Ref< const VectorXs > &, const Eigen::Ref< const VectorXs > &u)
	Compute the actuation signal from the state point \(\mathbf{x}\in\mathbb{R}^{ndx}\) and joint torque inputs \(\mathbf{u}\in\mathbb{R}^{nu}\).

virtual void	calcDiff (const std::shared_ptr< Data > &data, const Eigen::Ref< const VectorXs > &, const Eigen::Ref< const VectorXs > &)
	Compute the Jacobians of the actuation function.

virtual void	commands (const std::shared_ptr< Data > &data, const Eigen::Ref< const VectorXs > &, const Eigen::Ref< const VectorXs > &tau)
	Compute the joint torque input from the generalized torques.

std::shared_ptr< Data >	createData ()
	Create the actuation data.

	DEPRECATED ("Use constructor ActuationModelFloatingBaseThrustersTpl", ActuationModelMultiCopterBaseTpl(std::shared_ptr< StateMultibody > state, const Eigen::Ref< const Matrix6xs > &tau_f))
	Initialize the multicopter actuation model.

	DEPRECATED ("Use constructor without n_rotors", ActuationModelMultiCopterBaseTpl(std::shared_ptr< StateMultibody > state, const std::size_t n_rotors, const Eigen::Ref< const Matrix6xs > &tau_f))

std::size_t	get_nrotors () const

const MatrixXs &	get_tauf () const

void	set_tauf (const Eigen::Ref< const MatrixXs > &tau_f)

virtual void	torqueTransform (const std::shared_ptr< Data > &data, const Eigen::Ref< const VectorXs > &, const Eigen::Ref< const VectorXs > &)
	Compute the torque transform from generalized torques to joint torque inputs.

Public Member Functions inherited from ActuationModelAbstractTpl< _Scalar >
	ActuationModelAbstractTpl (std::shared_ptr< StateAbstract > state, const std::size_t nu)
	Initialize the actuation model.

void	calc (const std::shared_ptr< ActuationDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
	Ignore the computation of the actuation signal.

void	calcDiff (const std::shared_ptr< ActuationDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
	Ignore the computation of the Jacobians of the actuation function.

std::size_t	get_nu () const
	Return the dimension of the joint-torque input.

const std::shared_ptr< StateAbstract > &	get_state () const
	Return the state.

virtual void	print (std::ostream &os) const
	Print relevant information of the residual model.

Protected Attributes
MatrixXs	Mtau_

std::size_t	n_rotors_
	Number of rotors.

std::size_t	nu_
	Dimension of joint torque inputs.

std::shared_ptr< StateAbstract >	state_
	Model of the state.

MatrixXs	tau_f_
	Matrix from rotors thrust to body force/moments.

Protected Attributes inherited from ActuationModelAbstractTpl< _Scalar >
std::size_t	nu_
	Dimension of joint torque inputs.

std::shared_ptr< StateAbstract >	state_
	Model of the state.

Additional Inherited Members
Public Attributes inherited from ActuationModelAbstractTpl< _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Detailed Description

template<typename _Scalar>
class crocoddyl::ActuationModelMultiCopterBaseTpl< _Scalar >

Multicopter actuation model.

This actuation model is aimed for those robots whose base_link is actuated using a propulsion system, e.g., a multicopter or an aerial manipulator (multicopter with a robotic arm attached). Control input: the thrust (force) created by each propeller. tau_f matrix: this matrix relates the thrust of each propeller to the net force and torque that it causes to the base_link. For a simple quadrotor: tau_f.nrows = 6, tau_f.ncols = 4

Both actuation and Jacobians are computed analytically by calc and calcDiff, respectively.

Reference: M. Geisert and N. Mansard, "Trajectory generation for quadrotor based systems using numerical optimal control," 2016 IEEE International Conference on Robotics and Automation (ICRA), Stockholm, 2016, pp. 2958-2964. See Section III.C.

See also: ActuationModelAbstractTpl, calc(), calcDiff(), createData()

Definition at line 43 of file multicopter-base.hpp.

Member Typedef Documentation

◆ Scalar

template<typename _Scalar >

typedef _Scalar Scalar

Definition at line 46 of file multicopter-base.hpp.

◆ MathBase

template<typename _Scalar >

typedef MathBaseTpl<Scalar> MathBase

Definition at line 47 of file multicopter-base.hpp.

◆ Base

template<typename _Scalar >

typedef ActuationModelAbstractTpl<Scalar> Base

Definition at line 48 of file multicopter-base.hpp.

◆ Data

template<typename _Scalar >

typedef ActuationDataAbstractTpl<Scalar> Data

Definition at line 49 of file multicopter-base.hpp.

◆ StateMultibody

template<typename _Scalar >

typedef StateMultibodyTpl<Scalar> StateMultibody

Definition at line 50 of file multicopter-base.hpp.

◆ VectorXs

template<typename _Scalar >

typedef MathBase::VectorXs VectorXs

Definition at line 51 of file multicopter-base.hpp.

◆ MatrixXs

template<typename _Scalar >

typedef MathBase::MatrixXs MatrixXs

Definition at line 52 of file multicopter-base.hpp.

◆ Matrix6xs

template<typename _Scalar >

typedef MathBase::Matrix6xs Matrix6xs

Definition at line 53 of file multicopter-base.hpp.

Constructor & Destructor Documentation

◆ ~ActuationModelMultiCopterBaseTpl()

template<typename _Scalar >

virtual ~ActuationModelMultiCopterBaseTpl ( )

inlinevirtual

Definition at line 72 of file multicopter-base.hpp.

Member Function Documentation

◆ DEPRECATED()

template<typename _Scalar >

DEPRECATED	(	"Use constructor ActuationModelFloatingBaseThrustersTpl"	,
		ActuationModelMultiCopterBaseTpl< _Scalar >(std::shared_ptr< StateMultibody > state, const Eigen::Ref< const Matrix6xs > &tau_f)
	)

Initialize the multicopter actuation model.

Parameters

[in]	state	State of the dynamical system
[in]	tau_f	Matrix that maps the thrust of each propeller to the net force and torque

◆ calc()

template<typename _Scalar >

virtual void calc	(	const std::shared_ptr< Data > &	data,
		const Eigen::Ref< const VectorXs > &	x,
		const Eigen::Ref< const VectorXs > &	u
	)

inlinevirtual

Compute the actuation signal from the state point \(\mathbf{x}\in\mathbb{R}^{ndx}\) and joint torque inputs \(\mathbf{u}\in\mathbb{R}^{nu}\).

Parameters

[in]	data	Actuation data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]	u	Joint-torque input \(\mathbf{u}\in\mathbb{R}^{nu}\)

Implements ActuationModelAbstractTpl< _Scalar >.

Definition at line 74 of file multicopter-base.hpp.

◆ calcDiff()

template<typename _Scalar >

virtual void calcDiff	(	const std::shared_ptr< Data > &	data,
		const Eigen::Ref< const VectorXs > &	x,
		const Eigen::Ref< const VectorXs > &	u
	)

inlinevirtual

Compute the Jacobians of the actuation function.

Parameters

[in]	data	Actuation data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]	u	Joint-torque input \(\mathbf{u}\in\mathbb{R}^{nu}\)

Implements ActuationModelAbstractTpl< _Scalar >.

Definition at line 87 of file multicopter-base.hpp.

◆ commands()

template<typename _Scalar >

virtual void commands	(	const std::shared_ptr< Data > &	data,
		const Eigen::Ref< const VectorXs > &	x,
		const Eigen::Ref< const VectorXs > &	tau
	)

inlinevirtual

Compute the joint torque input from the generalized torques.

It stores the results in ActuationDataAbstractTpl::u.

Parameters

[in]	data	Actuation data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]	tau	Generalized torques \(\mathbf{u}\in\mathbb{R}^{nv}\)

Implements ActuationModelAbstractTpl< _Scalar >.

Definition at line 100 of file multicopter-base.hpp.

◆ torqueTransform()

template<typename _Scalar >

virtual void torqueTransform	(	const std::shared_ptr< Data > &	data,
		const Eigen::Ref< const VectorXs > &	x,
		const Eigen::Ref< const VectorXs > &	u
	)

inlinevirtual

Compute the torque transform from generalized torques to joint torque inputs.

It stores the results in ActuationDataAbstractTpl::Mtau.

Parameters

[in]	data	Actuation data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]	tau	Joint-torque inputs \(\mathbf{u}\in\mathbb{R}^{nu}\)

Reimplemented from ActuationModelAbstractTpl< _Scalar >.

Definition at line 107 of file multicopter-base.hpp.

◆ createData()

template<typename _Scalar >

std::shared_ptr< Data > createData ( )

inlinevirtual

Create the actuation data.

Returns: the actuation data

Reimplemented from ActuationModelAbstractTpl< _Scalar >.

Definition at line 119 of file multicopter-base.hpp.

◆ get_nrotors()

template<typename _Scalar >

std::size_t get_nrotors ( ) const

inline

Definition at line 130 of file multicopter-base.hpp.

◆ get_tauf()

template<typename _Scalar >

const MatrixXs & get_tauf ( ) const

inline

Definition at line 131 of file multicopter-base.hpp.

◆ set_tauf()

template<typename _Scalar >

void set_tauf ( const Eigen::Ref< const MatrixXs > & tau_f )

inline

Definition at line 132 of file multicopter-base.hpp.

Member Data Documentation

◆ tau_f_

template<typename _Scalar >

MatrixXs tau_f_

protected

Matrix from rotors thrust to body force/moments.

Definition at line 135 of file multicopter-base.hpp.

◆ Mtau_

template<typename _Scalar >

MatrixXs Mtau_

protected

Constaint torque transform from generalized torques to joint torque inputs

Definition at line 136 of file multicopter-base.hpp.

◆ n_rotors_

template<typename _Scalar >

std::size_t n_rotors_

protected

Number of rotors.

Definition at line 138 of file multicopter-base.hpp.

◆ nu_

template<typename _Scalar >

std::size_t nu_

protected

Dimension of joint torque inputs.

Definition at line 172 of file actuation-base.hpp.

◆ state_

template<typename _Scalar >

std::shared_ptr<StateAbstract> state_

protected

Model of the state.

Definition at line 173 of file actuation-base.hpp.

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

/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/multibody/actuations/multicopter-base.hpp

Public Types

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Scalar

◆ MathBase

◆ Base

◆ Data

◆ StateMultibody

◆ VectorXs

◆ MatrixXs

◆ Matrix6xs

Constructor & Destructor Documentation

◆ ~ActuationModelMultiCopterBaseTpl()

Member Function Documentation

◆ DEPRECATED()

◆ calc()

◆ calcDiff()

◆ commands()

◆ torqueTransform()

◆ createData()

◆ get_nrotors()

◆ get_tauf()

◆ set_tauf()

Member Data Documentation

◆ tau_f_

◆ Mtau_

◆ n_rotors_

◆ nu_

◆ state_