Numerical exploration planar template finding; analytical approx QP formulation and sim

[avikde]

With the work of #104

Planar model (view along x axis)

0.14 0.18 0.22

[avikde]

Scatters in wrench space to get an idea of volume covered by inputs

Next:

• go ahead and try to fit ellipsoids
• how?

Manual fit for now in order to go ahead

Inside points

Also plot the dots in the input space

[avikde]

First plot of planar control-affine system

[avikde]

Current situation:

• gy doesn't contain nonzeros directly relating Vdes to body vel. Vdes -> Phi -> zddot -> zdot. So the reactive controller won't work.

[avikde]

Vertical with QP controller works

Now controller works better - fixed how the QP works 4cec9fa8c63469ef9d511b439cedc10a376e799e

[avikde]

Planar one does not work as well.

instead of ydot, zdot, phidot do something intermediate where there is an avg thrust

[avikde]

Working new QP formulation for vertical

Planar also works!