function

Planning.Bezier.evaluateMultirotor

Evaluate position through snap and yaw through angular acceleration

Combines the translational and heading curves into the conventional flat-output derivative set for a quadrotor.

Public declarations

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

Role	Name	Type	Dimensions / attributes / default	Description
input	`positionControlPoint`	`Real`	`[3, 8]`	Septic control points for world-frame position
input	`yawControlPoint`	`Real`	`[1, 4]`	Cubic control points for yaw
input	`duration`	`Real`	`(unit = "s")`	Segment duration
input	`t`	`Real`	`(unit = "s")`	Time relative to the segment start
output	`trajectory`	`Planning.Bezier.MultirotorTrajectory`

Modelica declarations and implementation

Show parameters, interfaces and source

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

function evaluateMultirotor
    "Evaluate position through snap and yaw through angular acceleration"
    input Real positionControlPoint[3, 8]
      "Septic control points for world-frame position";
    input Real yawControlPoint[1, 4] "Cubic control points for yaw";
    input Real duration(unit = "s") "Segment duration";
    input Real t(unit = "s") "Time relative to the segment start";
    output Planning.Bezier.MultirotorTrajectory trajectory;
  protected
    Real yawValue[1];
    Real yawRateValue[1];
    Real yawAccelerationValue[1];
  algorithm
    trajectory.position := Planning.Bezier.evaluate(
      positionControlPoint, duration, t);
    trajectory.velocity := Planning.Bezier.evaluateDerivative(
      positionControlPoint, duration, t, 1);
    trajectory.acceleration := Planning.Bezier.evaluateDerivative(
      positionControlPoint, duration, t, 2);
    trajectory.jerk := Planning.Bezier.evaluateDerivative(
      positionControlPoint, duration, t, 3);
    trajectory.snap := Planning.Bezier.evaluateDerivative(
      positionControlPoint, duration, t, 4);
    yawValue := Planning.Bezier.evaluate(yawControlPoint, duration, t);
    yawRateValue := Planning.Bezier.evaluateDerivative(
      yawControlPoint, duration, t, 1);
    yawAccelerationValue := Planning.Bezier.evaluateDerivative(
      yawControlPoint, duration, t, 2);
    trajectory.yaw := yawValue[1];
    trajectory.yawRate := yawRateValue[1];
    trajectory.yawAcceleration := yawAccelerationValue[1];
    annotation(Documentation(info="<html>
      <p>Combines the translational and heading curves into the conventional
      flat-output derivative set for a quadrotor.</p>
    </html>"));
  end evaluateMultirotor;