udaan.utils.flat2state module

class udaan.utils.flat2state.Flat2State

Bases: object

Differential flatness maps for quadrotor and quadrotor-payload systems.

static compute_moment(axQ, daxQ, d2axQ, mQ=0.85, J=None, Tp=array([0., 0., 0.]), dTp=array([0., 0., 0.]), d2Tp=array([0., 0., 0.]))

static compute_q_vectors(aL, daL, d2aL, d3aL, d4aL, mQ=0.85, mL=0.05)

static quadrotor(traj, mQ=0.85, J=None)

static quadrotor_payload(traj, mQ=0.85, mL=0.1, cable_len=1, J=None)