Drake
drake::examples::quadrotor Namespace Reference

Classes

class  QuadrotorPlant
 The Quadrotor - an underactuated aerial vehicle. More...
 

Functions

std::unique_ptr< systems::AffineSystem< double > > StabilizingLQRController (const QuadrotorPlant< double > *quadrotor_plant, Eigen::Vector3d nominal_position)
 Generates an LQR controller to move to nominal_position. More...
 

Function Documentation

std::unique_ptr< systems::AffineSystem< double > > StabilizingLQRController ( const QuadrotorPlant< double > *  quadrotor_plant,
Eigen::Vector3d  nominal_position 
)

Generates an LQR controller to move to nominal_position.

Internally computes the nominal input corresponding to a hover at position x0.

See also
systems::LinearQuadraticRegulator.

Here is the call graph for this function: