FieldFollow V-REP plugin

This is a V-REP plugin that implements a controller for a quadrotor model, written in C++.

The controller is described in: D. Zhou and M. Schwager, “Vector Field Following for Quadrotors using Differential Flatness”, In Proc. of the International Conference on Robotics and Automation (ICRA 14), June, 2014, pp. 6567-6572.

This software is not related in any way with the authors of this paper.

Dependencies:

• libginac-dev
• libcln-dev

Linux installation:

• Install the dependencies
• Set in the Makefile the variable VREPDIR to your V-REP installation directory
• cd to the symsplugin directory
• Run "make mklib" to build the library or "make install" to build and copy it to the V-REP installation directory

Notes:

• See the scene "field_controller.ttt" for an example of usage.
• To use the scene, also modify the path of the file vector-field.txt inside the main quadrotor child script.
• The plugin has been written for V-REP 3.4.0.
• Euler angles singularity at 90° pitch
• Tested with ODE and Bullet <=2.83 (not working with Vortex)