quadrotor_decoupled_6d_rel_planar_dubins_3d.h

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/*
 * Copyright (c) 2017, The Regents of the University of California (Regents).
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 *    2. Redistributions in binary form must reproduce the above
 *       copyright notice, this list of conditions and the following
 *       disclaimer in the documentation and/or other materials provided
 *       with the distribution.
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 *       contributors may be used to endorse or promote products derived
 *       from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS AS IS
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 * Please contact the author(s) of this library if you have any questions.
 * Authors: David Fridovich-Keil   ( dfk@eecs.berkeley.edu )
 *          Jaime F. Fisac         ( jfisac@eecs.berkeley.edu )
 */

//
// Defines the relative dynamics between a 6D decoupled quadrotor model and a
// 3D planar Dubins model.
//

#ifndef FASTRACK_DYNAMICS_QUADROTOR_DECOUPLED_6D_REL_PLANAR_DUBINS_3D_H
#define FASTRACK_DYNAMICS_QUADROTOR_DECOUPLED_6D_REL_PLANAR_DUBINS_3D_H

#include <fastrack/control/quadrotor_control.h>
#include <fastrack/control/quadrotor_control_bound_cylinder.h>
#include <fastrack/dynamics/dynamics.h>
#include <fastrack/dynamics/relative_dynamics.h>
#include <fastrack/state/planar_dubins_3d.h>
#include <fastrack/state/position_velocity.h>
#include <fastrack/state/position_velocity_rel_planar_dubins_3d.h>

#include <math.h>

namespace fastrack {
namespace dynamics {

using control::QuadrotorControl;
using control::QuadrotorControlBoundCylinder;
using state::PlanarDubins3D;
using state::PositionVelocity;
using state::PositionVelocityRelPlanarDubins3D;

class QuadrotorDecoupled6DRelPlanarDubins3D
    : public RelativeDynamics<PositionVelocity, QuadrotorControl,
                              PlanarDubins3D, double> {
public:
  ~QuadrotorDecoupled6DRelPlanarDubins3D() {}
  explicit QuadrotorDecoupled6DRelPlanarDubins3D()
      : RelativeDynamics<PositionVelocity, QuadrotorControl, PlanarDubins3D,
                         double>() {}

  // Derived classes must be able to give the time derivative of relative state
  // as a function of current state and control of each system.
  std::unique_ptr<RelativeState<PositionVelocity, PlanarDubins3D>>
  Evaluate(const PositionVelocity& tracker_x, const QuadrotorControl& tracker_u,
           const PlanarDubins3D& planner_x, const double& planner_u) const;

  // Derived classes must be able to compute an optimal control given
  // the gradient of the value function at the relative state specified
  // by the given system states, provided abstract control bounds.
  QuadrotorControl OptimalControl(
      const PositionVelocity& tracker_x, const PlanarDubins3D& planner_x,
      const RelativeState<PositionVelocity, PlanarDubins3D>& value_gradient,
      const ControlBound<QuadrotorControl>& tracker_u_bound,
      const ControlBound<double>& planner_u_bound) const;
}; //\class QuadrotorDecoupledPlanarDubins

} // namespace dynamics
} // namespace fastrack

#endif