From 7e6e180f98f7e427db9fbc8cb22b35d5593ae59c Mon Sep 17 00:00:00 2001 From: Benoit Landry Date: Fri, 1 May 2015 13:18:49 -0400 Subject: [PATCH] simple example of using the crazyflie model with Drake --- examples/Quadrotor/crazyflie/crazyflie.urdf | 71 + .../Quadrotor/crazyflie/mesh/crazyflie.obj | 86194 ++++++++++++++++ .../crazyflie/mesh/crazyflie.obj.mtl | 9 + .../Quadrotor/crazyflie/mesh/crazyflie.stl | Bin 0 -> 1946884 bytes examples/Quadrotor/crazyflie/runDircol.m | 76 + 5 files changed, 86350 insertions(+) create mode 100644 examples/Quadrotor/crazyflie/crazyflie.urdf create mode 100644 examples/Quadrotor/crazyflie/mesh/crazyflie.obj create mode 100644 examples/Quadrotor/crazyflie/mesh/crazyflie.obj.mtl create mode 100644 examples/Quadrotor/crazyflie/mesh/crazyflie.stl create mode 100644 examples/Quadrotor/crazyflie/runDircol.m diff --git a/examples/Quadrotor/crazyflie/crazyflie.urdf b/examples/Quadrotor/crazyflie/crazyflie.urdf new file mode 100644 index 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+minimum_duration = .1; +maximum_duration = 8; +prog = DircolTrajectoryOptimization(cf,N,[minimum_duration maximum_duration]); + +% Set the corners of a square as set points +x0 = Point(getStateFrame(cf)); +x0.base_x = 0; +x0.base_y = -1.0; +x0.base_z = 1.25; +prog = prog.addStateConstraint(ConstantConstraint(double(x0)),1); +x1 = x0; +x1.base_x = 1.5; +prog = prog.addStateConstraint(ConstantConstraint(double(x1)),round(N/4)); +x2 = x1; +x2.base_y = 1.0; +prog = prog.addStateConstraint(ConstantConstraint(double(x2)),round(N/2)); +x3 = x2; +x3.base_x = 0; +prog = prog.addStateConstraint(ConstantConstraint(double(x3)),round(3*N/4)); +xf = x3; +xf.base_y = -1.0; +prog = prog.addStateConstraint(ConstantConstraint(double(xf)),N); + +% goes to a position 2 meters forward +% x0 = Point(getStateFrame(cf)); +% x0.base_x = 0; +% x0.base_z = 1.25; +% prog = prog.addStateConstraint(ConstantConstraint(double(x0)),1); +% xf = x0; +% xf.base_x = 2; +% prog = prog.addStateConstraint(ConstantConstraint(double(xf)),N); + +nominal_input = .25*norm(getMass(cf)*cf.gravity)./ ... + [cf.force{1}.scale_factor_thrust cf.force{2}.scale_factor_thrust ... + cf.force{3}.scale_factor_thrust cf.force{4}.scale_factor_thrust]'; +u0 = double(nominal_input); +prog = prog.addInputConstraint(ConstantConstraint(u0),1); +prog = prog.addInputConstraint(ConstantConstraint(u0),N); + +prog = prog.addRunningCost(@cost); +prog = prog.addFinalCost(@finalCost); + +tf0 = 2; +traj_init.x = PPTrajectory(foh([0,tf0],[double(x0),double(xf)])); +traj_init.u = ConstantTrajectory(u0); + +info=0; +while (info~=1) + tic + [xtraj,utraj,z,F,info] = prog.solveTraj(tf0,traj_init); + toc +end + +if (nargout<1) + v = constructVisualizer(cf); + v.playback(xtraj,struct('slider',true)); +end + +end + +function [g,dg] = cost(dt,x,u) + R = eye(4); + g = u'*R*u; + dg = [0,zeros(1,size(x,1)),2*u'*R]; +end + +function [h,dh] = finalCost(t,x) + h = t; + dh = [1,zeros(1,size(x,1))]; +end \ No newline at end of file