RobotZoo.jl

Author RoboticExplorationLab
Popularity
4 Stars
Updated Last
1 Year Ago
Started In
March 2020

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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.Quadrotor

Example Usage

using RobotZoo
using RobotDynamics

model RobotZoo.Cartpole()
n,m = size(model)

# Generate random state and control vector
x,u = rand(model)
dt = 0.1  # time step (s)
z = KnotPoint(x,u,dt)

# Evaluate the continuous dynamics and Jacobian= dynamics(model, x, u)
∇f = RobotDynamics.DynamicsJacobian(model)
jacobian!(∇f, model, z)

# Evaluate the discrete dynamics and Jacobian
x′ = discrete_dynamics(RK3, model, z)
discrete_jacobian!(RK3, ∇f, model, z)