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RigidBodyPropellor Class Reference
Inheritance diagram for RigidBodyPropellor:
Collaboration diagram for RigidBodyPropellor:

Public Member Functions

function RigidBodyPropellor (frame_id, axis, scale_factor_thrust, scale_factor_moment, limits)
 
function computeSpatialForce (obj, manip, q, qd)
 B_mod maps the input to generalized forces. More...
 
function addPropellorVisualShapeToBody (varargin)
 
function addPropellorVisualGeometryToBody (obj, manip, body, diameter)
 Adds a visual geometry of the propellor to the model on the body given for drawing the in a visualizer. More...
 
- Public Member Functions inherited from RigidBodyForceElement
function updateBodyCoordinates (obj, body_ind, T_old_body_to_new_body)
 
function setInputNum (obj, input_num)
 
function energy (obj, manip, q, qd)
 
- Public Member Functions inherited from RigidBodyElement
function bindParams (body, model, pval)
 Bind parameters from msspolys to doubles. More...
 

Static Public Member Functions

static function parseURDFNode (model, name, robotnum, node, options)
 
- Static Public Member Functions inherited from RigidBodyForceElement
static function cartesianForceToSpatialForce (varargin)
 This method is deprecated. More...
 

Public Attributes

Property kinframe
 
Property axis
 
Property scale_factor_thrust
 scale factor between input and thrust More...
 
Property scale_factor_moment
 scale factor between input and moment due to aerodynamic drag More...
 
- Public Attributes inherited from RigidBodyForceElement
Property name
 
Property direct_feedthrough_flag
 
Property input_num
 
Property input_limits
 
- Public Attributes inherited from RigidBodyElement
Property param_bindings
 structure containing msspoly parameterized representations of some properties More...
 

Constructor & Destructor Documentation

function RigidBodyPropellor ( frame_id  ,
axis  ,
scale_factor_thrust  ,
scale_factor_moment  ,
limits   
)
Return values
obj

Member Function Documentation

function addPropellorVisualGeometryToBody ( obj  ,
manip  ,
body  ,
diameter   
)

Adds a visual geometry of the propellor to the model on the body given for drawing the in a visualizer.

Parameters
modelmanipulator the wing is part of
bodybody to add the visual geometry to
diameterdiameter of the propellor to draw
axisthe propellor produces thrust on
Return values
modelupdated model
function addPropellorVisualShapeToBody ( varargin  )
Return values
varargout
function computeSpatialForce ( obj  ,
manip  ,
,
qd   
)

B_mod maps the input to generalized forces.

Return values
force
B_mod
dforce
dB_mod
static function parseURDFNode ( model  ,
name  ,
robotnum  ,
node  ,
options   
)
static
Return values
model
obj

Member Data Documentation

Property axis
Property kinframe
Property scale_factor_moment

scale factor between input and moment due to aerodynamic drag

Property scale_factor_thrust

scale factor between input and thrust


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