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
ẋ = 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)