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kite.h
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Mon, Oct 21, 00:13

kite.h
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#ifndef KITE_H
#define KITE_H
#include "casadi/casadi.hpp"
#include "yaml-cpp/yaml.h"
#include "kitemath.h"
#include <chrono>
struct PlaneGeometry
{
double WingSpan;
double MAC;
double AspectRatio;
double WingSurfaceArea;
double TaperRatio;
double HTailsurface;
double TailLeverArm;
double FinSurfaceArea;
double FinLeverArm;
double AerodynamicCenter;
};
struct PlaneInertia
{
double Mass;
double Ixx;
double Iyy;
double Izz;
double Ixz;
};
struct PlaneAerodynamics
{
double CL0;
double CL0_tail;
double CLa_total;
double CLa_wing;
double CLa_tail;
double e_oswald;
double CD0_total;
double CD0_wing;
double CD0_tail;
double CYb;
double CYb_vtail;
double Cm0;
double Cma;
double Cn0;
double Cnb;
double Cl0;
double Clb;
double CLq;
double Cmq;
double CYr;
double Cnr;
double Clr;
double CYp;
double Clp;
double Cnp;
double CLde;
double CYdr;
double Cmde;
double Cndr;
double Cldr;
double CDde;
};
struct TetherProperties
{
double length;
double Ks;
double Kd;
};
struct KiteProperties
{
std::string Name;
PlaneGeometry Geometry;
PlaneInertia Inertia;
PlaneAerodynamics Aerodynamics;
TetherProperties Tether;
};
struct AlgorithmProperties
{
IntType Integrator;
double sampling_time;
};
namespace kite_utils
{
KiteProperties LoadProperties(const std::string &filename);
typedef std::chrono::time_point<std::chrono::system_clock> time_point;
time_point get_time();
}
class KiteDynamics
{
public:
//constructor
KiteDynamics(const KiteProperties &KiteProps, const AlgorithmProperties &AlgoProps);
virtual ~KiteDynamics(){}
/** public methods */
casadi::SX getSymbolicState(){return this->State;}
casadi::SX getSymbolicControl(){return this->Control;}
casadi::SX getSymbolicDynamics(){return this->SymDynamics;}
casadi::SX getSymbolicIntegrator(){return this->SymIntegartor;}
casadi::SX getSymbolicJacobian(){return this->SymJacobian;}
casadi::Function getNumericDynamics(){return this->NumDynamics;}
casadi::Function getNumericIntegrator(){return this->NumIntegrator;}
casadi::Function getNumericJacobian(){return this->NumJacobian;}
private:
//state variables
casadi::SX State;
//control variables
casadi::SX Control;
//symbolic equations of motion
casadi::SX SymDynamics;
//symbolic equations of integartor
casadi::SX SymIntegartor;
//symbolic expression for system jacobian
casadi::SX SymJacobian;
//numerical dynamics evaluation
casadi::Function NumDynamics;
//numerical integral evaluation
casadi::Function NumIntegrator;
//numerical jacobian evaluation
casadi::Function NumJacobian;
};
/** 6-DoF Kinematics of a Rigid Body */
class RigidBodyKinematics
{
public:
RigidBodyKinematics(const AlgorithmProperties &AlgoProps);
virtual ~RigidBodyKinematics(){}
casadi::Function getNumericIntegrator() {return NumIntegartor;}
casadi::Function getNumericJacobian() {return NumJacobian;}
casadi::Function getNumericDynamcis() {return NumDynamics;}
private:
casadi::SX state;
AlgorithmProperties algo_props;
/** numerical integrator */
casadi::Function NumIntegartor;
/** numerical evaluation of Jacobian */
casadi::Function NumJacobian;
/** numerical evaluation of system dynamics */
casadi::Function NumDynamics;
};
#endif // KITE_H

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