RobotZoo.jl

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

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
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)```

Required Packages

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