record

Planning.Bezier.MultirotorTrajectory

Flat outputs and the derivatives required by a multirotor

Public declarations

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

Role	Name	Type	Dimensions / attributes / default	Description
field	`position`	`Real`	`[3](each unit = "m")`	World-frame position
field	`velocity`	`Real`	`[3](each unit = "m/s")`	World-frame velocity
field	`acceleration`	`Real`	`[3](each unit = "m/s2")`	World-frame acceleration
field	`jerk`	`Real`	`[3](each unit = "m/s3")`	World-frame jerk
field	`snap`	`Real`	`[3](each unit = "m/s4")`	World-frame snap
field	`yaw`	`Real`	`(unit = "rad")`	Heading angle
field	`yawRate`	`Real`	`(unit = "rad/s")`	Heading rate
field	`yawAcceleration`	`Real`	`(unit = "rad/s2")`	Heading acceleration

Modelica declarations and implementation

Show parameters, interfaces and source

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

record MultirotorTrajectory
    "Flat outputs and the derivatives required by a multirotor"
    Real position[3](each unit = "m") "World-frame position";
    Real velocity[3](each unit = "m/s") "World-frame velocity";
    Real acceleration[3](each unit = "m/s2") "World-frame acceleration";
    Real jerk[3](each unit = "m/s3") "World-frame jerk";
    Real snap[3](each unit = "m/s4") "World-frame snap";
    Real yaw(unit = "rad") "Heading angle";
    Real yawRate(unit = "rad/s") "Heading rate";
    Real yawAcceleration(unit = "rad/s2") "Heading acceleration";
  end MultirotorTrajectory;