RobotZoo.jl
Provides a handful of dynamics models of common robotic platforms, implemented using the
RobotDynamics.jl package.
The following models are currently implemented:
- Acrobot (
Acrobot) - Dubins Car (unicycle model) (
DubinsCar) - Kinematic Bicycle car model (
BicycleModel) - Cartpole (
Cartpole) - Double Integrator (
DoubleIntegrator) - Pendulum (
Pendulum) - Quadrotor (
Quadrotor) - Airplane (
YakPlane) - Satellite (
Satellite)
Most models can be constructed using their default constructor, e.g. model = RobotZoo.Cartpole().
To get more information on each model, refer to the documentation for each type, accessible via the command line:
?RobotZoo.QuadrotorExample Usage
using RobotZoo
import RobotDynamics as RD
model = RobotZoo.Cartpole()
n,m = RD.dims(model)
# Generate random state and control vector
x,u = rand(model)
t = 0.0 # time (s)
dt = 0.1 # time step (s)
z = RD.KnotPoint(x,u,t,dt)
# Evaluate the continuous dynamics and Jacobian
ẋ = dynamics(model, x, u)
∇f = zeros(n, n + m)
RD.jacobian!(RD.StaticReturn(), RD.ForwardAD(), model, ∇f, ẋ, model, z)
# Evaluate the discrete dynamics and Jacobian
dmodel = RD.DiscretizedDynamics{RD.RK4}(model)
x′ = RD.discrete_dynamics(dmodel, model, x, u, t, dt)
RD.discrete_jacobian!(RD.StaticReturn(), RD.ForwardAD(), dmodel, ∇f, x′, z)