Helicopter Model added: (need to uncomment visualizer) #7
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A couple things that need to be done:
- Make it object oriented and use the
RobotDynamicsinterface. See any of the other models in this repo for examples on how to do this. - Include this file in
src/RobotZoo.jl - Add some tests to make sure it works as you expect.
I'm happy to answer any questions you have about how to do these.
src/helicopter.jl
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| #### Quaternion Functions: ############################################# | ||
| ######################################################################## | ||
| ######################################################################## | ||
| function hat(v) |
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You should use the one defined in Rotations.jl instead of defining your own:
https://github.com/JuliaGeometry/Rotations.jl/blob/master/src/util.jl#L34
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Sounds good. I will be on it.
src/helicopter.jl
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| return [0 -v[3] v[2]; v[3] 0 -v[1]; -v[2] v[1] 0] | ||
| end | ||
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| function L(q) |
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Ditto above: use the one in Rotations.jl:
https://github.com/JuliaGeometry/Rotations.jl/blob/master/src/unitquaternion.jl#L378
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These changes have been made....
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Can you check RobotZoo.jl line 24?
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Is the updated "helicopter.jl" file visible to you? I have made changes in the new commit...
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I tried refering to Yakplane.jl, quadrotor.jl and satellite.jl for the organizing the code....Please let me know if you have suggestions...
src/helicopter.jl
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| return L | ||
| end | ||
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| function qtoQ(q) |
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Ditto. Prefer to use Rotations.jl to do these types of conversions.
src/helicopter.jl
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| u[4] = Tail Rotor Thrust | ||
| =# | ||
| #################################################################### | ||
| r = x[1:3] #x y z |
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I'd highly recommend making these static arrays, e.g.:
r = SA[x[1], x[2], x[3]]
src/helicopter.jl
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| #ṙ, q̇, v̇, ω̇ | ||
| r_dot = Q * v | ||
| q_dot = 0.5 * L(q) * H * ω | ||
| v_dot = [(v[2] * ω[3]) - (v[3] * ω[2]) - g_matrix[1] + ((Xmr + Xfus) / M); |
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Again, you can save an allocation by trivially making this a static array by placing an SA in front:
SA[
# my terms...
]
| #################################################################### | ||
| """ | ||
| # Animation | ||
| function set_heli_model!(vis::Visualizer) |
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We should just comment this out for now. We're working on another package (WIP) to hold visualizations for the models.
| M = 8.2 #kg | ||
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| ## INERTIA | ||
| Ixx = 0.18 #kg m^2 |
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These type of model parameters can go in the model struct
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If you can see the new helicopter,jl file, here is a reference to point towards my first effort at the relevant changes:
Happy to make more changes and add checks... |
Sorry for not making it object oriented...Happy to make changes, though. Thanks!