record

Planning.Bezier.FlatReference

Multirotor state and wrench reconstructed from flat outputs

Public declarations

Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.

Role	Name	Type	Dimensions / attributes / default	Description
field	`velocityBody`	`Real`	`[3](each unit = "m/s")`	Body-frame velocity
field	`quaternion`	`Real`	`[4](each unit = "1")`	Body-to-world quaternion {w,x,y,z}
field	`bodyToWorld`	`Real`	`[3, 3](each unit = "1")`	Direction cosine matrix
field	`angularVelocityBody`	`Real`	`[3](each unit = "rad/s")`	Body-frame angular velocity
field	`angularAccelerationBody`	`Real`	`[3](each unit = "rad/s2")`	Body-frame angular acceleration
field	`momentBody`	`Real`	`[3](each unit = "N.m")`	Body-frame control moment
field	`thrust`	`Real`	`(unit = "N")`	Collective thrust magnitude

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

record FlatReference
    "Multirotor state and wrench reconstructed from flat outputs"
    Real velocityBody[3](each unit = "m/s") "Body-frame velocity";
    Real quaternion[4](each unit = "1")
      "Body-to-world quaternion {w,x,y,z}";
    Real bodyToWorld[3, 3](each unit = "1") "Direction cosine matrix";
    Real angularVelocityBody[3](each unit = "rad/s")
      "Body-frame angular velocity";
    Real angularAccelerationBody[3](each unit = "rad/s2")
      "Body-frame angular acceleration";
    Real momentBody[3](each unit = "N.m") "Body-frame control moment";
    Real thrust(unit = "N") "Collective thrust magnitude";
  end FlatReference;