Represents a fixed‑wing UAV including its dynamics and 3D rendering. More...

#include <aircraft.h>

Classes
struct	ControlInputs

Public Member Functions
	Aircraft (const std::string &fname, int &vehicle_count)
	Construct a new Aircraft, load parameters, and initialize states.

	~Aircraft ()
	Destructor for Aircraft.

void	load_a_plane (const std::string &filePath, int &vehicle_count)
	Load an aircraft parameter file.

easy3d::vec3 *	update_aircraft (easy3d::vec3 vertices, easy3d::vec3 axesVertices, double &dt)
	Update aircraft states, geometry, and axes per simulation step.

void	renderAircraft (easy3d::Viewer &viewer)
	Render the aircraft model into the viewer.

void	createAxesDrawable (easy3d::Viewer &viewer)
	Create and render local coordinate axes.

bool	animate (easy3d::Viewer *viewer, double dt)
	Animate the aircraft for one frame.

void	render_HUD (easy3d::TextRenderer &tr, easy3d::Viewer *viewer) const
	Render HUD overlay of state variables.

void	printState ()
	Print current state variables to console for debugging.

easy3d::TrianglesDrawable *	getAircraftDrawable () const
	Get the drawable for shading or viewer operations.

ControlInputs	computeTrimControls (double alpha, double beta, double phi, double p, double q, double r, double theta, double Va, double R)
	Compute control inputs that achieve trim for given flight conditions.

Eigen::VectorXd	getLateralState () const

Eigen::VectorXd	getLongitudinalState () const

Eigen::VectorXd	computeStateDot (const Eigen::VectorXd &X_in, const Eigen::VectorXd &U_in)

Public Attributes
double	clock
	Simulation clock [s].

double	pn

double	pe

double	pd
	Position in NED frame [m].

double	u

double	v

double	w
	Body-axis velocities [m/s].

double	phi

double	theta

double	psi
	Euler angles [rad].

double	p

double	q

double	r
	Angular rates [rad/s].

double	V_m
	Airspeed [m/s].

double	alpha

double	beta
	AoA and sideslip.

double	fx

double	fy

double	fz
	Body-axis forces [N].

double	ell

double	m

double	n
	Body-axis moments [Nm].

std::vector< double >	velocity_b

double	pn_dot

double	pe_dot

double	pd_dot

double	u_dot

double	v_dot

double	w_dot

double	phi_dot

double	theta_dot

double	psi_dot

double	p_dot

double	q_dot

double	r_dot

int	steps

double	dt

int	id

double	mass

double	Jx

double	Jy

double	Jz

double	Jxz

double	wing_area

double	wing_chord

double	wing_span

double	wing_aspect_ratio = (wing_span*wing_span)/wing_area

double	e

double	g

double	rho

double	k_motor

double	prop_area

double	prop_thrust_coef

double	prop_efficiency

double	prop_omega

double	Gamma

double	Gamma_1

double	Gamma_2

double	Gamma_3

double	Gamma_4

double	Gamma_5

double	Gamma_6

double	Gamma_7

double	Gamma_8

double	C_p_0

double	C_p_beta

double	C_p_p

double	C_p_r

double	C_p_delta_a

double	C_p_delta_r

double	C_r_0

double	C_r_beta

double	C_r_p

double	C_r_r

double	C_r_delta_a

double	C_r_delta_r

double	Cd_of_alpha

double	sigma_num

double	sigma_den

double	sigma_of_alpha

double	Cl_flat_plate

double	Cl_linear

double	Cl_of_alpha

double	CxAlpha

double	CxqAlpha

double	CxdeltaeAlpha

double	CzAlpha

double	CzqAlpha

double	CzdeltaeAlpha

Eigen::Vector3d	force_g

double	force_aero1

Eigen::Vector3d	force_aero2

Eigen::Vector3d	force_aero

double	force_prop1

Eigen::Vector3d	force_prop2

Eigen::Vector3d	force_prop

Eigen::Vector3d	Force

double	Aero_t1 = force_aero1

Eigen::Vector3d	Aero_t2

Eigen::Vector3d	Aero_torque

Eigen::Vector3d	Prop_torque

Eigen::Vector3d	Torque

double	C_L_0

double	C_L_alpha

double	C_L_q

double	C_L_delta_e

double	C_D_0

double	C_D_alpha

double	C_D_p

double	C_D_q

double	C_D_delta_e

double	C_m_0

double	C_m_alpha

double	C_m_q

double	C_m_delta_e

double	C_Y_0

double	C_Y_beta

double	C_Y_p

double	C_Y_r

double	C_Y_delta_a

double	C_Y_delta_r

double	C_ell_0

double	C_ell_beta

double	C_ell_p

double	C_ell_r

double	C_ell_delta_a

double	C_ell_delta_r

double	C_n_0

double	C_n_beta

double	C_n_p

double	C_n_r

double	C_n_delta_a

double	C_n_delta_r

double	C_prop

double	trans_rate

double	epsilon

double	alpha0

double	beta0

double	pn_0

double	pe_0

double	pd_0

double	u_0

double	v_0

double	w_0

double	phi_0

double	theta_0

double	psi_0

double	p_0

double	q_0

double	r_0

double	delta_t

double	delta_a

double	delta_e

double	delta_r

double	delta_t_max

double	delta_t_min

double	delta_a_max

double	delta_a_min

double	delta_e_max

double	delta_e_min

double	delta_r_max

double	delta_r_min

float	old_roll

float	old_pitch

float	old_yaw

float	old_pn

float	old_pe

float	old_pd

std::vector< double >	vertices_x

std::vector< double >	vertices_y

std::vector< double >	vertices_z

int	vertices_size

int	aircraft_scale = 20

std::vector< std::vector< int > >	faces

std::vector< easy3d::vec3 >	vertices_aircraft

std::vector< unsigned int >	indices

std::vector< easy3d::vec3 >	dummy_points

std::vector< easy3d::vec3 > &	points

easy3d::TrianglesDrawable *	aircraft

easy3d::LinesDrawable *	axesDrawable

std::vector< easy3d::vec3 >	axes_vertices

std::vector< easy3d::vec3 >	original_vertices

std::vector< easy3d::vec3 >	axes_vertices_original

std::string	file_name

std::unique_ptr< easy3d::SurfaceMesh >	mesh

std::vector< double >	X = {pn,pe,pd,u,v,w,p,q,r,phi,theta,psi,fx,fy,fz,ell,m,n}

Private Member Functions
void	calculate_forces ()
	Perform force calculations (gravity, aero, prop).

void	calculate_body_frame_velocity_and_angles ()
	Calculate body-frame velocity and angles.

void	calculate_lift_drag_coefficients ()
	Calculate lift and drag coefficients.

void	calculate_moments ()
	Calculate aerodynamic and propulsive moments.

void	rotate (easy3d::vec3 *vertices)
	Apply rotation to aircraft mesh vertices.

void	rotate_axes (easy3d::vec3 *axesVertices)
	Apply rotation to axes vertices.

void	translate (easy3d::vec3 *vertices)
	Apply translation to aircraft mesh vertices.

void	translate_axes (easy3d::vec3 *axesVertices)
	Apply translation to axes vertices.

void	RK4 (std::vector< double > &X, double dt)
	Integrate dynamics using Runge-Kutta 4th order.

double	calculate_pn_dot (double &u, double &v, double &w, double &phi, double &theta, double &psi)
	Compute derivative of north position (pn_dot).

double	calculate_pe_dot (double &u, double &v, double &w, double &phi, double &theta, double &psi)
	Compute derivative of east position (pe_dot).

double	calculate_pd_dot (double &u, double &v, double &w, double &phi, double &theta)
	Compute derivative of down position (pd_dot).

double	calculate_phi_dot (double &p, double &q, double &r, double &phi, double &theta)
	Compute derivative of roll angle (phi_dot).

double	calculate_theta_dot (double &q, double &r, double &phi)
	Compute derivative of pitch angle (theta_dot).

double	calculate_psi_dot (double &q, double &r, double &phi, double &theta)
	Compute derivative of yaw angle (psi_dot).

double	calculate_u_dot (double &v, double &w, double &q, double &r, double &fx, double &mass)
	Compute derivative of body-axis X velocity.

double	calculate_v_dot (double &u, double &w, double &p, double &fy, double &mass)
	Compute derivative of body-axis Y velocity.

double	calculate_w_dot (double &u, double &v, double &p, double &q, double &fz, double &mass)
	Compute derivative of body-axis Z velocity.

double	calculate_p_dot (double &p, double &q, double &r, double &ell, double &n, double &Gamma_1, double &Gamma_2, double &Gamma_3, double &Gamma_4)
	Compute derivative of roll rate p.

double	calculate_q_dot (double &p, double &r, double &m, double &Jy, double &Gamma_5, double &Gamma_6)
	Compute derivative of pitch rate q.

double	calculate_r_dot (double &p, double &q, double &r, double &ell, double &n, double &Gamma_1, double &Gamma_4, double &Gamma_7, double &Gamma_8)
	Compute derivative of yaw rate r.

Friends
class	GNC

Detailed Description

Represents a fixed‑wing UAV including its dynamics and 3D rendering.

Public members expose state variables and parameters, while methods handle:

Loading aircraft parameters from file
Computing forces, moments, and trim
Integrating dynamics (RK4)
Rendering the aircraft and axes in Easy3D
Updating the aircraft per simulation step

Constructor & Destructor Documentation

◆ Aircraft()

Aircraft::Aircraft	(	const std::string &	fname,
		int &	vehicle_count
	)

Construct a new Aircraft, load parameters, and initialize states.

Constructor. Loads parameters and initializes state variables.

Parameters

fname	Path to aircraft parameter file.
vehicle_count	Reference to vehicle counter.
fname	Path to the aircraft parameter file.
vehicle_count	Reference to global vehicle count.

◆ ~Aircraft()

Aircraft::~Aircraft ( )

Destructor for Aircraft.

Destructor for Aircraft class. Currently does minimal cleanup.

Member Function Documentation

◆ animate()

bool Aircraft::animate	(	easy3d::Viewer *	viewer,
		double	dt
	)

Animate the aircraft for one frame.

Animation callback called by viewer per frame.

Parameters

viewer	Pointer to Easy3D viewer.
dt	Time step in seconds.

Returns: True if animation update succeeded.

Parameters

viewer	Pointer to Easy3D viewer.
dt	Time step in seconds.

Returns: True if updated successfully.

◆ calculate_body_frame_velocity_and_angles()

void Aircraft::calculate_body_frame_velocity_and_angles ( )

private

Calculate body-frame velocity and angles.

Compute body-frame airspeed, angle of attack, and sideslip.

◆ calculate_forces()

void Aircraft::calculate_forces ( )

private

Perform force calculations (gravity, aero, prop).

Calculate total aerodynamic, gravitational, and propulsion forces.

◆ calculate_lift_drag_coefficients()

void Aircraft::calculate_lift_drag_coefficients ( )

private

Calculate lift and drag coefficients.

Compute lift and drag coefficients as functions of alpha and control inputs.

◆ calculate_moments()

void Aircraft::calculate_moments ( )

private

Calculate aerodynamic and propulsive moments.

Calculate aerodynamic and propulsive moments (roll, pitch, yaw).

◆ calculate_p_dot()

double Aircraft::calculate_p_dot	(	double &	p,
		double &	q,
		double &	r,
		double &	ell,
		double &	n,
		double &	Gamma_1,
		double &	Gamma_2,
		double &	Gamma_3,
		double &	Gamma_4
	)

private

Compute derivative of roll rate p.

◆ calculate_pd_dot()

double Aircraft::calculate_pd_dot	(	double &	u,
		double &	v,
		double &	w,
		double &	phi,
		double &	theta
	)

private

Compute derivative of down position (pd_dot).

◆ calculate_pe_dot()

double Aircraft::calculate_pe_dot	(	double &	u,
		double &	v,
		double &	w,
		double &	phi,
		double &	theta,
		double &	psi
	)

private

Compute derivative of east position (pe_dot).

◆ calculate_phi_dot()

double Aircraft::calculate_phi_dot	(	double &	p,
		double &	q,
		double &	r,
		double &	phi,
		double &	theta
	)

private

Compute derivative of roll angle (phi_dot).

◆ calculate_pn_dot()

double Aircraft::calculate_pn_dot	(	double &	u,
		double &	v,
		double &	w,
		double &	phi,
		double &	theta,
		double &	psi
	)

private

Compute derivative of north position (pn_dot).

◆ calculate_psi_dot()

double Aircraft::calculate_psi_dot	(	double &	q,
		double &	r,
		double &	phi,
		double &	theta
	)

private

Compute derivative of yaw angle (psi_dot).

◆ calculate_q_dot()

double Aircraft::calculate_q_dot	(	double &	p,
		double &	r,
		double &	m,
		double &	Jy,
		double &	Gamma_5,
		double &	Gamma_6
	)

private

Compute derivative of pitch rate q.

◆ calculate_r_dot()

double Aircraft::calculate_r_dot	(	double &	p,
		double &	q,
		double &	r,
		double &	ell,
		double &	n,
		double &	Gamma_1,
		double &	Gamma_4,
		double &	Gamma_7,
		double &	Gamma_8
	)

private

Compute derivative of yaw rate r.

◆ calculate_theta_dot()

double Aircraft::calculate_theta_dot	(	double &	q,
		double &	r,
		double &	phi
	)

private

Compute derivative of pitch angle (theta_dot).

◆ calculate_u_dot()

double Aircraft::calculate_u_dot	(	double &	v,
		double &	w,
		double &	q,
		double &	r,
		double &	fx,
		double &	mass
	)

private

Compute derivative of body-axis X velocity.

◆ calculate_v_dot()

double Aircraft::calculate_v_dot	(	double &	u,
		double &	w,
		double &	p,
		double &	fy,
		double &	mass
	)

private

Compute derivative of body-axis Y velocity.

◆ calculate_w_dot()

double Aircraft::calculate_w_dot	(	double &	u,
		double &	v,
		double &	p,
		double &	q,
		double &	fz,
		double &	mass
	)

private

Compute derivative of body-axis Z velocity.

◆ computeStateDot()

Eigen::VectorXd Aircraft::computeStateDot	(	const Eigen::VectorXd &	X_in,
		const Eigen::VectorXd &	U_in
	)

◆ computeTrimControls()

Aircraft::ControlInputs Aircraft::computeTrimControls	(	double	alpha,
		double	beta,
		double	phi,
		double	p,
		double	q,
		double	r,
		double	theta,
		double	Va,
		double	R
	)

Compute control inputs that achieve trim for given flight conditions.

Compute control inputs (δ_e, δ_a, δ_r, δ_t) that achieve trim.

Parameters

alpha	Angle of attack.
beta	Side slip angle.
phi	Roll angle.
p	Roll rate.
q	Pitch rate.
r	Yaw rate.
theta	Pitch angle.
Va	Airspeed.
R	Turn radius.

Returns: Structure containing trim control inputs.

Parameters

alpha	Angle of attack.
beta	Side slip angle.
phi	Roll angle.
p	Roll rate.
q	Pitch rate.
r	Yaw rate.
theta	Pitch angle.
Va	Airspeed.
R	Turn radius.

Returns: Struct containing trim control inputs.

◆ createAxesDrawable()

void Aircraft::createAxesDrawable ( easy3d::Viewer & viewer )

Create and render local coordinate axes.

Create and render a local coordinate frame.

Parameters

viewer Reference to Easy3D viewer.

◆ getAircraftDrawable()

easy3d::TrianglesDrawable * Aircraft::getAircraftDrawable ( ) const

inline

Get the drawable for shading or viewer operations.

Returns: Aircraft mesh as TrianglesDrawable.

◆ getLateralState()

Eigen::VectorXd Aircraft::getLateralState ( ) const

◆ getLongitudinalState()

Eigen::VectorXd Aircraft::getLongitudinalState ( ) const

◆ load_a_plane()

void Aircraft::load_a_plane	(	const std::string &	filePath,
		int &	vehicle_count
	)

Load an aircraft parameter file.

================================

Parameters

filePath	File path of parameter file.
vehicle_count	Reference to vehicle counter.

Load aircraft parameters from a text file and assign them to members.

Parameters

filePath	Path to parameter file.
vehicle_count	Reference to vehicle counter, used to assign ID.

Note: Also computes derived parameters like aspect ratio and combined coefficients.

◆ printState()

void Aircraft::printState ( )

Print current state variables to console for debugging.

Debug print of current state variables to console.

◆ render_HUD()

void Aircraft::render_HUD	(	easy3d::TextRenderer &	tr,
		easy3d::Viewer *	viewer
	)		const

Render HUD overlay of state variables.

Render heads-up display (HUD) with aircraft states.

Parameters

tr	Text renderer for HUD.
viewer	Pointer to Easy3D viewer.
tr	Reference to Easy3D TextRenderer.
viewer	Pointer to Easy3D viewer.

◆ renderAircraft()

void Aircraft::renderAircraft ( easy3d::Viewer & viewer )

Render the aircraft model into the viewer.

Load and render aircraft geometry using Easy3D.

Parameters

viewer Reference to Easy3D viewer.

◆ RK4()

void Aircraft::RK4	(	std::vector< double > &	X,
		double	dt
	)

private

Integrate dynamics using Runge-Kutta 4th order.

Runge–Kutta 4th order integration to update state vector.

Parameters

X	State vector containing position, velocity, attitude, forces & moments.
dt	Time step (seconds).

◆ rotate()

void Aircraft::rotate ( easy3d::vec3 * vertices )

private

Apply rotation to aircraft mesh vertices.

Apply rotation to aircraft mesh vertices using Euler angles.

◆ rotate_axes()

void Aircraft::rotate_axes ( easy3d::vec3 * axesVertices )

private

Apply rotation to axes vertices.

Apply rotation to local axes vertices.

◆ translate()

void Aircraft::translate ( easy3d::vec3 * vertices )

private

Apply translation to aircraft mesh vertices.

◆ translate_axes()

void Aircraft::translate_axes ( easy3d::vec3 * axesVertices )

private

Apply translation to axes vertices.

◆ update_aircraft()

easy3d::vec3 * Aircraft::update_aircraft	(	easy3d::vec3 *	vertices,
		easy3d::vec3 *	axesVertices,
		double &	dt
	)

Update aircraft states, geometry, and axes per simulation step.

Update aircraft state each simulation step, applying dynamics and geometry transforms.

Parameters

vertices	Pointer to aircraft vertex buffer.
axesVertices	Pointer to axes vertex buffer.
dt	Time step in seconds.

Returns: Updated aircraft vertex pointer.

Parameters

vertices	Vertex buffer for aircraft.
axesVertices	Vertex buffer for axes.
dt	Time step in seconds.

Returns: Pointer to updated aircraft vertex buffer.

Friends And Related Symbol Documentation

◆ GNC

friend class GNC

friend

Member Data Documentation

◆ Aero_t1

double Aircraft::Aero_t1 = force_aero1

◆ Aero_t2

Eigen::Vector3d Aircraft::Aero_t2

◆ Aero_torque

Eigen::Vector3d Aircraft::Aero_torque

◆ aircraft

easy3d::TrianglesDrawable* Aircraft::aircraft

◆ aircraft_scale

int Aircraft::aircraft_scale = 20

◆ alpha

double Aircraft::alpha

◆ alpha0

double Aircraft::alpha0

◆ axes_vertices

std::vector<easy3d::vec3> Aircraft::axes_vertices

◆ axes_vertices_original

std::vector<easy3d::vec3> Aircraft::axes_vertices_original

◆ axesDrawable

easy3d::LinesDrawable* Aircraft::axesDrawable

◆ beta

double Aircraft::beta

AoA and sideslip.

◆ beta0

double Aircraft::beta0

◆ C_D_0

double Aircraft::C_D_0

◆ C_D_alpha

double Aircraft::C_D_alpha

◆ C_D_delta_e

double Aircraft::C_D_delta_e

◆ C_D_p

double Aircraft::C_D_p

◆ C_D_q

double Aircraft::C_D_q

◆ C_ell_0

double Aircraft::C_ell_0

◆ C_ell_beta

double Aircraft::C_ell_beta

◆ C_ell_delta_a

double Aircraft::C_ell_delta_a

◆ C_ell_delta_r

double Aircraft::C_ell_delta_r

◆ C_ell_p

double Aircraft::C_ell_p

◆ C_ell_r

double Aircraft::C_ell_r

◆ C_L_0

double Aircraft::C_L_0

◆ C_L_alpha

double Aircraft::C_L_alpha

◆ C_L_delta_e

double Aircraft::C_L_delta_e

◆ C_L_q

double Aircraft::C_L_q

◆ C_m_0

double Aircraft::C_m_0

◆ C_m_alpha

double Aircraft::C_m_alpha

◆ C_m_delta_e

double Aircraft::C_m_delta_e

◆ C_m_q

double Aircraft::C_m_q

◆ C_n_0

double Aircraft::C_n_0

◆ C_n_beta

double Aircraft::C_n_beta

◆ C_n_delta_a

double Aircraft::C_n_delta_a

◆ C_n_delta_r

double Aircraft::C_n_delta_r

◆ C_n_p

double Aircraft::C_n_p

◆ C_n_r

double Aircraft::C_n_r

◆ C_p_0

double Aircraft::C_p_0

◆ C_p_beta

double Aircraft::C_p_beta

◆ C_p_delta_a

double Aircraft::C_p_delta_a

◆ C_p_delta_r

double Aircraft::C_p_delta_r

◆ C_p_p

double Aircraft::C_p_p

◆ C_p_r

double Aircraft::C_p_r

◆ C_prop

double Aircraft::C_prop

◆ C_r_0

double Aircraft::C_r_0

◆ C_r_beta

double Aircraft::C_r_beta

◆ C_r_delta_a

double Aircraft::C_r_delta_a

◆ C_r_delta_r

double Aircraft::C_r_delta_r

◆ C_r_p

double Aircraft::C_r_p

◆ C_r_r

double Aircraft::C_r_r

◆ C_Y_0

double Aircraft::C_Y_0

◆ C_Y_beta

double Aircraft::C_Y_beta

◆ C_Y_delta_a

double Aircraft::C_Y_delta_a

◆ C_Y_delta_r

double Aircraft::C_Y_delta_r

◆ C_Y_p

double Aircraft::C_Y_p

◆ C_Y_r

double Aircraft::C_Y_r

◆ Cd_of_alpha

double Aircraft::Cd_of_alpha

◆ Cl_flat_plate

double Aircraft::Cl_flat_plate

◆ Cl_linear

double Aircraft::Cl_linear

◆ Cl_of_alpha

double Aircraft::Cl_of_alpha

◆ clock

double Aircraft::clock

Simulation clock [s].

◆ CxAlpha

double Aircraft::CxAlpha

◆ CxdeltaeAlpha

double Aircraft::CxdeltaeAlpha

◆ CxqAlpha

double Aircraft::CxqAlpha

◆ CzAlpha

double Aircraft::CzAlpha

◆ CzdeltaeAlpha

double Aircraft::CzdeltaeAlpha

◆ CzqAlpha

double Aircraft::CzqAlpha

◆ delta_a

double Aircraft::delta_a

◆ delta_a_max

double Aircraft::delta_a_max

◆ delta_a_min

double Aircraft::delta_a_min

◆ delta_e

double Aircraft::delta_e

◆ delta_e_max

double Aircraft::delta_e_max

◆ delta_e_min

double Aircraft::delta_e_min

◆ delta_r

double Aircraft::delta_r

◆ delta_r_max

double Aircraft::delta_r_max

◆ delta_r_min

double Aircraft::delta_r_min

◆ delta_t

double Aircraft::delta_t

◆ delta_t_max

double Aircraft::delta_t_max

◆ delta_t_min

double Aircraft::delta_t_min

◆ dt

double Aircraft::dt

◆ dummy_points

std::vector<easy3d::vec3> Aircraft::dummy_points

◆ e

double Aircraft::e

◆ ell

double Aircraft::ell

◆ epsilon

double Aircraft::epsilon

◆ faces

std::vector<std::vector<int> > Aircraft::faces

◆ file_name

std::string Aircraft::file_name

◆ Force

Eigen::Vector3d Aircraft::Force

◆ force_aero

Eigen::Vector3d Aircraft::force_aero

◆ force_aero1

double Aircraft::force_aero1

◆ force_aero2

Eigen::Vector3d Aircraft::force_aero2

◆ force_g

Eigen::Vector3d Aircraft::force_g

◆ force_prop

Eigen::Vector3d Aircraft::force_prop

◆ force_prop1

double Aircraft::force_prop1

◆ force_prop2

Eigen::Vector3d Aircraft::force_prop2

◆ fx

double Aircraft::fx

◆ fy

double Aircraft::fy

◆ fz

double Aircraft::fz

Body-axis forces [N].

◆ g

double Aircraft::g

◆ Gamma

double Aircraft::Gamma

◆ Gamma_1

double Aircraft::Gamma_1

◆ Gamma_2

double Aircraft::Gamma_2

◆ Gamma_3

double Aircraft::Gamma_3

◆ Gamma_4

double Aircraft::Gamma_4

◆ Gamma_5

double Aircraft::Gamma_5

◆ Gamma_6

double Aircraft::Gamma_6

◆ Gamma_7

double Aircraft::Gamma_7

◆ Gamma_8

double Aircraft::Gamma_8

◆ id

int Aircraft::id

◆ indices

std::vector<unsigned int> Aircraft::indices

◆ Jx

double Aircraft::Jx

◆ Jxz

double Aircraft::Jxz

◆ Jy

double Aircraft::Jy

◆ Jz

double Aircraft::Jz

◆ k_motor

double Aircraft::k_motor

◆ m

double Aircraft::m

◆ mass

double Aircraft::mass

◆ mesh

std::unique_ptr<easy3d::SurfaceMesh> Aircraft::mesh

◆ n

double Aircraft::n

Body-axis moments [Nm].

◆ old_pd

float Aircraft::old_pd

◆ old_pe

float Aircraft::old_pe

◆ old_pitch

float Aircraft::old_pitch

◆ old_pn

float Aircraft::old_pn

◆ old_roll

float Aircraft::old_roll

◆ old_yaw

float Aircraft::old_yaw

◆ original_vertices

std::vector<easy3d::vec3> Aircraft::original_vertices

◆ p

double Aircraft::p

◆ p_0

double Aircraft::p_0

◆ p_dot

double Aircraft::p_dot

◆ pd

double Aircraft::pd

Position in NED frame [m].

◆ pd_0

double Aircraft::pd_0

◆ pd_dot

double Aircraft::pd_dot

◆ pe

double Aircraft::pe

◆ pe_0

double Aircraft::pe_0

◆ pe_dot

double Aircraft::pe_dot

◆ phi

double Aircraft::phi

◆ phi_0

double Aircraft::phi_0

◆ phi_dot

double Aircraft::phi_dot

◆ pn

double Aircraft::pn

◆ pn_0

double Aircraft::pn_0

◆ pn_dot

double Aircraft::pn_dot

◆ points

std::vector<easy3d::vec3>& Aircraft::points

◆ prop_area

double Aircraft::prop_area

◆ prop_efficiency

double Aircraft::prop_efficiency

◆ prop_omega

double Aircraft::prop_omega

◆ prop_thrust_coef

double Aircraft::prop_thrust_coef

◆ Prop_torque

Eigen::Vector3d Aircraft::Prop_torque

◆ psi

double Aircraft::psi

Euler angles [rad].

◆ psi_0

double Aircraft::psi_0

◆ psi_dot

double Aircraft::psi_dot

◆ q

double Aircraft::q

◆ q_0

double Aircraft::q_0

◆ q_dot

double Aircraft::q_dot

◆ r

double Aircraft::r

Angular rates [rad/s].

◆ r_0

double Aircraft::r_0

◆ r_dot

double Aircraft::r_dot

◆ rho

double Aircraft::rho

◆ sigma_den

double Aircraft::sigma_den

◆ sigma_num

double Aircraft::sigma_num

◆ sigma_of_alpha

double Aircraft::sigma_of_alpha

◆ steps

int Aircraft::steps

◆ theta

double Aircraft::theta

◆ theta_0

double Aircraft::theta_0

◆ theta_dot

double Aircraft::theta_dot

◆ Torque

Eigen::Vector3d Aircraft::Torque

◆ trans_rate

double Aircraft::trans_rate

◆ u

double Aircraft::u

◆ u_0

double Aircraft::u_0

◆ u_dot

double Aircraft::u_dot

◆ v

double Aircraft::v

◆ v_0

double Aircraft::v_0

◆ v_dot

double Aircraft::v_dot

◆ V_m

double Aircraft::V_m

Airspeed [m/s].

◆ velocity_b

std::vector<double> Aircraft::velocity_b

◆ vertices_aircraft

std::vector<easy3d::vec3> Aircraft::vertices_aircraft

◆ vertices_size

int Aircraft::vertices_size

◆ vertices_x

std::vector<double> Aircraft::vertices_x

◆ vertices_y

std::vector<double> Aircraft::vertices_y

◆ vertices_z

std::vector<double> Aircraft::vertices_z

◆ w

double Aircraft::w

Body-axis velocities [m/s].

◆ w_0

double Aircraft::w_0

◆ w_dot

double Aircraft::w_dot

◆ wing_area

double Aircraft::wing_area

◆ wing_aspect_ratio

double Aircraft::wing_aspect_ratio = (wing_span*wing_span)/wing_area

◆ wing_chord

double Aircraft::wing_chord

◆ wing_span

double Aircraft::wing_span

◆ X

std::vector<double> Aircraft::X = {pn,pe,pd,u,v,w,p,q,r,phi,theta,psi,fx,fy,fz,ell,m,n}

The documentation for this class was generated from the following files:

include/aircraft/aircraft.h
src/aircraft/aircraft.cpp

Classes

Public Member Functions

Public Attributes

Private Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

◆ Aircraft()

◆ ~Aircraft()

Member Function Documentation

◆ animate()

◆ calculate_body_frame_velocity_and_angles()

◆ calculate_forces()

◆ calculate_lift_drag_coefficients()

◆ calculate_moments()

◆ calculate_p_dot()

◆ calculate_pd_dot()

◆ calculate_pe_dot()

◆ calculate_phi_dot()

◆ calculate_pn_dot()

◆ calculate_psi_dot()

◆ calculate_q_dot()

◆ calculate_r_dot()

◆ calculate_theta_dot()

◆ calculate_u_dot()

◆ calculate_v_dot()

◆ calculate_w_dot()

◆ computeStateDot()

◆ computeTrimControls()

◆ createAxesDrawable()

◆ getAircraftDrawable()

◆ getLateralState()

◆ getLongitudinalState()

◆ load_a_plane()

◆ printState()

◆ render_HUD()

◆ renderAircraft()

◆ RK4()

◆ rotate()

◆ rotate_axes()

◆ translate()

◆ translate_axes()

◆ update_aircraft()

Friends And Related Symbol Documentation

◆ GNC

Member Data Documentation

◆ Aero_t1

◆ Aero_t2

◆ Aero_torque

◆ aircraft

◆ aircraft_scale

◆ alpha

◆ alpha0

◆ axes_vertices

◆ axes_vertices_original

◆ axesDrawable

◆ beta

◆ beta0

◆ C_D_0

◆ C_D_alpha

◆ C_D_delta_e

◆ C_D_p

◆ C_D_q

◆ C_ell_0

◆ C_ell_beta

◆ C_ell_delta_a

◆ C_ell_delta_r

◆ C_ell_p

◆ C_ell_r

◆ C_L_0

◆ C_L_alpha

◆ C_L_delta_e

◆ C_L_q

◆ C_m_0

◆ C_m_alpha

◆ C_m_delta_e

◆ C_m_q

◆ C_n_0

◆ C_n_beta

◆ C_n_delta_a