Classes
class	QuadrotorGeometry
	Expresses a QuadrotorPlant's geometry to a SceneGraph. More...
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`.

Function Documentation

◆ StabilizingLQRController()

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.