├── .gitignore ├── CAD ├── LandTamer │ ├── LandTamerBody.wrl │ └── LandTamerWheel.wrl ├── RecBot │ ├── RecBotBody.wrl │ ├── RecBotWheelFront.wrl │ └── RecBotWheelRear.wrl ├── Rocky7 │ ├── Rocky7Body.wrl │ ├── Rocky7Bogie.wrl │ ├── Rocky7Bracket.wrl │ ├── Rocky7Rocker.wrl │ └── Rocky7Wheel.wrl ├── Talon │ ├── TalonBody.wrl │ ├── TalonSprocket.wrl │ └── TalonTrack.wrl └── Zoe │ ├── ZoeBody.wrl │ ├── ZoeFrontAxle.wrl │ ├── ZoeRearAxle.wrl │ └── ZoeWheel.wrl ├── LICENSE.txt ├── MATLAB ├── CADdir.m ├── HT │ ├── HTToPose.m │ ├── README.txt │ ├── Rotx.m │ ├── Roty.m │ ├── Rotz.m │ ├── applyHT.m │ ├── applyInvHT.m │ ├── eulerToQuat.m │ ├── eulerToRot.m │ ├── eulerrateToVel.m │ ├── inclinationToEuler.m │ ├── invertHT.m │ ├── invertQuat.m │ ├── isValidHT.m │ ├── isValidRot.m │ ├── orientToRot.m │ ├── orientrateToVel.m │ ├── poseToHT.m │ ├── quatToEuler.m │ ├── quatToRot.m │ ├── quatmatl.m │ ├── quatmatr.m │ ├── quatrateToVel.m │ ├── rotToEuler.m │ ├── rotToQuat.m │ ├── velToEulerrate.m │ ├── velToOrientrate.m │ └── velToQuatrate.m ├── README.txt ├── SIZEORIENT.m ├── WmrModel │ ├── ErpCfmToKpKd.m │ ├── Frame.m │ ├── KpKdToErpCfm.m │ ├── WmrModel.m │ ├── inertiaBox.m │ ├── inertiaCylinder.m │ ├── jointSpaceVelNames.m │ ├── qdotToQvel.m │ ├── qvelToQdot.m │ ├── stateIs.m │ ├── stateNames.m │ └── stateToHT.m ├── actuator │ └── PIact.m ├── algorithms │ ├── RK4step.m │ └── linesearch.m ├── animate │ ├── WmrAnimation.m │ ├── contactPointsOnSurface.m │ ├── drawQuivers.m │ ├── drawSurfaces.m │ ├── loadTextureImage.m │ ├── makeBoxHgt.m │ ├── makeCircleHgt.m │ ├── makeCylinderHgt.m │ ├── makeLineExtrudeHgt.m │ ├── makePolyExtrudeHgt.m │ ├── makeTrackHgt.m │ ├── makeVrmlHgt.m │ ├── parseVrml.m │ └── pointsOnCircle.m ├── calibration │ ├── CalibrationInfo.m │ ├── OdometryInput.m │ ├── OdometryLog.m │ ├── README.txt │ ├── appendStoch.m │ ├── bodyVelNoise.m │ ├── covop.m │ ├── finiteDiffJacobian.m │ ├── intervalIndices.m │ ├── intervalInputs.m │ ├── kfMeasUpdate.m │ ├── odometry.m │ ├── predictStateCov.m │ └── triuv.m ├── collision │ ├── HTContactToTrack.m │ ├── HTContactToWheel.m │ ├── HTTrackToWorld.m │ ├── README.txt │ ├── contactAnglesToPoints.m │ ├── initTrackContactGeom.m │ ├── updateTrackContactGeom.m │ ├── updateWheelContactGeom.m │ ├── updateWheelContactGeomBlind.m │ └── whichPointsInContact.m ├── contactgeom │ ├── TrackContactGeom.m │ └── WheelContactGeom.m ├── datalogdir.m ├── demo │ ├── calibration │ │ ├── initcalRecbot.m │ │ ├── initcalSkidsteer.m │ │ ├── readdataLandtamer.m │ │ ├── readdataRecbot.m │ │ ├── residualRecbot.m │ │ └── residualSkidsteer.m │ ├── model │ │ ├── ackermanController.m │ │ ├── landtamer.m │ │ ├── recbot.m │ │ ├── recbotConstraints.m │ │ ├── rocky.m │ │ ├── rockyConstraints.m │ │ ├── rockyController.m │ │ ├── skidsteerController.m │ │ ├── talon.m │ │ ├── wgcParams.m │ │ ├── zoe.m │ │ ├── zoeArcController.m │ │ ├── zoeConstraints.m │ │ └── zoeController.m │ └── terrain │ │ ├── ditch.m │ │ ├── external │ │ ├── README.txt │ │ ├── generate_brownian_mesh.m │ │ ├── generate_brownian_tri.m │ │ └── rsgeng2D.m │ │ ├── flat.m │ │ ├── fractalgrid.m │ │ ├── fractalmat.m │ │ ├── plane.m │ │ ├── ramp.m │ │ ├── randomgrid.m │ │ ├── randommat.m │ │ ├── rock.m │ │ ├── rocks.m │ │ └── terrain.m ├── dynamics │ ├── ControllerIO.m │ ├── ForwardDynOutput.m │ ├── HandC.m │ ├── constraintJacobians.m │ ├── forwardDyn.m │ ├── forwardDynForceBalance.m │ ├── forwardDynUnc.m │ ├── jointSpaceBiasForce.m │ ├── jointSpaceInertia.m │ ├── odeDyn.m │ ├── odeDynDecat.m │ └── subtreeInertias.m ├── kinematics │ ├── DvcontactDvtrack.m │ ├── OdeOutput.m │ ├── forwardVelKin.m │ ├── initTerrainContact.m │ ├── odeKin.m │ ├── trackJacobians.m │ ├── updateModelContactGeom.m │ └── wheelJacobians.m ├── math │ ├── cross3.m │ ├── diffDeg.m │ ├── diffRad.m │ ├── numDiff.m │ ├── rigidMotion.m │ ├── roundToEven.m │ ├── roundToOdd.m │ ├── skew3.m │ ├── skew3n.m │ ├── unskew3.m │ ├── unwrapDeg.m │ ├── unwrapRad.m │ ├── wrapDeg.m │ └── wrapRad.m ├── misc │ ├── LatLonToUTM.m │ ├── UTMToLatLon.m │ ├── catstrnum.m │ ├── changeRes.m │ ├── clear_all.m │ ├── convertTransverseMercator.m │ ├── disptable.m │ ├── getUTMZoneInfo.m │ ├── setseed.m │ ├── strfindCell.m │ ├── strfindCellCmp.m │ ├── structNoDependent.m │ └── uncatIndexArray.m ├── plot │ ├── bingStaticMapUrl.m │ ├── drawEllipse.m │ ├── googleStaticMapUrl.m │ ├── makeLegible.m │ ├── plotHist.m │ ├── plotPathOnAerial.m │ ├── plotScatter.m │ ├── resizeFig.m │ └── varycolor.m ├── resourcedir.m ├── spatial │ ├── HTToPlucker.m │ ├── PluckerToHT.m │ ├── README.txt │ ├── crossForce.m │ ├── crossMotion.m │ ├── fromSpatialInertia.m │ ├── invHTToPlucker.m │ ├── invHTsToPluckers.m │ └── toSpatialInertia.m ├── surface │ ├── GridSurf.m │ ├── PlaneSurf.m │ ├── Surface.m │ ├── TriMeshSurf.m │ ├── printGridSurf.m │ ├── surfacesDz.m │ ├── surfacesHeight.m │ └── surfacesNormal.m ├── symbolic │ ├── sym_pacejka_wgc.m │ └── sym_transform_spatial_inertia.m ├── test │ ├── CalibrationLog.m │ ├── SimulationLog.m │ ├── _autosave │ │ └── README.txt │ ├── simopts.m │ ├── test_algebra.m │ ├── test_calibrate.m │ ├── test_collision.m │ ├── test_covop.m │ ├── test_dynamics.m │ ├── test_kinematics.m │ ├── test_simulate.m │ ├── test_state.m │ └── test_wheelgroundcontact.m └── wheelgroundcontact │ ├── calcSlip.m │ ├── ishigamiLUTWgc.m │ ├── ishigamiWgc.m │ ├── odeWgc.m │ ├── pacejkaDerivatives.m │ ├── pacejkaWgc.m │ ├── uniformWgc.m │ └── universalBsm.m ├── README.md ├── doc └── rocky_sim_screenshot.png ├── include └── wmrde │ ├── WmrModel.h │ ├── actuator.h │ ├── algebra │ ├── linalg3.h │ ├── matrix.h │ ├── spatial.h │ └── transform.h │ ├── animate │ ├── BaseApplication.h │ ├── VrmlData.h │ └── WmrAnimation.h │ ├── collision.h │ ├── contactgeom.h │ ├── demo │ ├── models.h │ ├── rockymodel.h │ ├── rockyscene.h │ ├── talonmodel.h │ ├── talonscene.h │ ├── terrains.h │ ├── zoemodel.h │ └── zoescene.h │ ├── dynamics.h │ ├── eigensolve.h │ ├── kinematics.h │ ├── linesearch.h │ ├── ode │ ├── WmrModelODE.h │ ├── simulate_ode.h │ └── test_ode.h │ ├── options.h │ ├── state.h │ ├── surface │ ├── GridSurf.h │ ├── PlaneSurf.h │ ├── Surface.h │ └── TriMeshSurf.h │ ├── test.h │ ├── util │ ├── common_util.h │ ├── index_util.h │ ├── interp_util.h │ ├── xs_Config.h │ └── xs_Float.h │ └── wheelgroundcontact.h ├── resource ├── LUT_FX_rocky.txt ├── LUT_FX_zoe.txt ├── LUT_FY_rocky.txt ├── LUT_FY_zoe.txt ├── LUT_FZ_rocky.txt ├── LUT_FZ_zoe.txt ├── README.txt ├── gridsurfdata.txt ├── gridsurfdata1.txt ├── gridsurfdata10.txt ├── gridsurfdata2.txt ├── gridsurfdata3.txt ├── gridsurfdata4.txt ├── gridsurfdata5.txt ├── gridsurfdata6.txt ├── gridsurfdata7.txt ├── gridsurfdata8.txt └── gridsurfdata9.txt ├── src ├── CMakeLists.txt ├── README.txt ├── WmrModel.cpp ├── actuator.cpp ├── algebra │ ├── matrix.cpp │ ├── spatial.cpp │ └── transform.cpp ├── animate │ ├── BaseApplication.cpp │ └── WmrAnimation.cpp ├── collision.cpp ├── demo │ ├── rockymodel.cpp │ ├── rockyscene.cpp │ ├── talonmodel.cpp │ ├── talonscene.cpp │ ├── terrains.cpp │ ├── zoemodel.cpp │ └── zoescene.cpp ├── dist │ ├── bin │ │ ├── plugins.cfg │ │ └── resources.cfg │ └── media │ │ ├── materials │ │ └── scripts │ │ │ └── wmrde.material │ │ └── packs │ │ └── SdkTrays.zip ├── dynamics.cpp ├── eigensolve.cpp ├── kinematics.cpp ├── main.cpp ├── ode │ ├── WmrModelODE.cpp │ ├── simulate_ode.cpp │ └── test_ode.cpp ├── state.cpp ├── surface │ ├── GridSurf.cpp │ ├── PlaneSurf.cpp │ ├── Surface.cpp │ └── TriMeshSurf.cpp ├── test.cpp └── wheelgroundcontact.cpp └── textures ├── asphalt.jpg ├── asphalt_zoom.jpg ├── cracked_dirt.jpg ├── dead_grass.jpg ├── desert_sand.jpg ├── green_grass.jpg └── wood_grain.jpg /.gitignore: -------------------------------------------------------------------------------- 1 | *.fig 2 | *.mat 3 | /build 4 | -------------------------------------------------------------------------------- /CAD/LandTamer/LandTamerBody.wrl: -------------------------------------------------------------------------------- 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