AerialVehicleControl.jl
cont_attitude_FOF_SO3_continuous.h
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1 /*******************************************************************************
2 * Copyright (C) Marcus Greiff 2020
3 *
4 * @file cont_attitude_FOF_SO3_continuous.h
5 * @author Marcus Greiff
6 * @date June 2020
7 *******************************************************************************/
8 #ifndef __CONT_ATTITUDE_FOF_SO3_CONTINUOUS_H__
9 #define __CONT_ATTITUDE_FOF_SO3_CONTINUOUS_H__
10 
11 #include "cont_math.h"
12 
13 /***************************************************************************/
28 int update_attitude_FOF_SO3_continuous(
29  ref_state_qw_t * reference,
30  dyn_state_qw_t * state,
31  con_state_qw_fof_t * controller,
32  double dt
33 );
34 
35 /***************************************************************************/
50 int update_attitude_FOF_SO3_continuous_measurements(
51  con_state_qw_fof_t * controller,
52  matrix_double_t * y0m,
53  matrix_double_t * y1m,
54  matrix_double_t * y2m,
55  matrix_double_t * y3m
56 );
57 
58 /***************************************************************************/
76 int attitude_FOF_SO3_continuous_cross_terms(
77  matrix_double_t * YAm,
78  matrix_double_t * YBm,
79  matrix_double_t * gainm,
80  matrix_double_t * outm
81 );
82 
83 /***************************************************************************/
103 int attitude_FOF_SO3_continuous_simulate_observer(
104  matrix_double_t * Qm,
105  matrix_double_t * Wm,
106  matrix_double_t * deltaQm,
107  matrix_double_t * deltaWm,
108  double dt
109 );
110 
111 #endif /* __CONT_ATTITUDE_FOF_SO3_CONTINUOUS_H__ */
cont_math.h
matrix_double_s
Matrix object used for all matrix manipulation.
Definition: cont_types.h:50
ref_state_qw_s
Reference signal structure for the attitude FSF on S(3) or SU(2)
Definition: cont_types.h:111
con_state_qw_fof_s
Complete state of the attitude FOF on SO(3) or SU(2)
Definition: cont_types.h:89
dyn_state_qw_s
Dynamical states, assumed known in the attitude FSF on SO(3) or SU(2)
Definition: cont_types.h:59
attitude_FOF_SO3_continuous_cross_terms
int attitude_FOF_SO3_continuous_cross_terms(matrix_double_t *YAm, matrix_double_t *YBm, matrix_double_t *gainm, matrix_double_t *outm)
Help function used to compute the innovation terms in the controller.
Definition: cont_attitude_FOF_SO3_continuous.c:293
attitude_FOF_SO3_continuous_simulate_observer
int attitude_FOF_SO3_continuous_simulate_observer(matrix_double_t *Qm, matrix_double_t *Wm, matrix_double_t *deltaQm, matrix_double_t *deltaWm, double dt)
Help function to simulate the attitude observer dynamics.
Definition: cont_attitude_FOF_SO3_continuous.c:245
update_attitude_FOF_SO3_continuous_measurements
int update_attitude_FOF_SO3_continuous_measurements(con_state_qw_fof_t *controller, matrix_double_t *y0m, matrix_double_t *y1m, matrix_double_t *y2m, matrix_double_t *y3m)
Help function used to update the measurements in the controller struct.
Definition: cont_attitude_FOF_SO3_continuous.c:10
update_attitude_FOF_SO3_continuous
int update_attitude_FOF_SO3_continuous(ref_state_qw_t *reference, dyn_state_qw_t *state, con_state_qw_fof_t *controller, double dt)
Update using the continuous filtered outpot feedback (FOF) on SO(3)
Definition: cont_attitude_FOF_SO3_continuous.c:44