Reusable Modelica building blocks for FastDyn/Rumoca simulations.
LieGroup/: lightweight SO(3) and quaternion utilities used by the generic rigid-body templates.Geodesy/: reusable local-frame and geodetic conversion helpers.RigidBody/: reusable six-degree-of-freedom rigid-body dynamics.RigidBody/Examples/: reusable base plants for quadrotor, rover, and fixed-wing use cases. These plants contain vehicle-generic dynamics only.
FastDyn-specific vehicle wrappers live in the FastDyn repository under
modelica/FastDyn. Those wrappers inherit these base plants and add
the sensor, actuator, and driver-interface equations needed by FastDyn.