:orphan:

=============
Example Usage
=============

Getting Started
===============



.. raw:: html

    <div class="sphx-glr-thumbnails">

.. thumbnail-parent-div-open

.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Parameter sets represent a set of constants associated with a multibody dynamics model. These constants have a name and an associated floating point value. This mapping from name to value is stored in a dictionary and then passed to a :py~bicycleparameters.parameter_sets.ParameterSet on creation. The docstring of the parameter set shows what values must be defined in the dictionary. This example will make use of the parameters associated with the model defined in [Meijaard2007]_.">

.. only:: html

  .. image:: /gallery/images/thumb/sphx_glr_plot_parameter_set_thumb.png
    :alt:

  :ref:`sphx_glr_gallery_plot_parameter_set.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Using Parameter Sets</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Using Bicycles">

.. only:: html

  .. image:: /gallery/images/thumb/sphx_glr_plot_bicycle_thumb.png
    :alt:

  :ref:`sphx_glr_gallery_plot_bicycle.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Using Bicycles</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Parameter sets can be associated with a model and the model can be used to compute and visualize properties of the model&#x27;s dynamics.">

.. only:: html

  .. image:: /gallery/images/thumb/sphx_glr_plot_models_thumb.png
    :alt:

  :ref:`sphx_glr_gallery_plot_models.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Using Models</div>
    </div>


.. thumbnail-parent-div-close

.. raw:: html

    </div>


.. toctree::
   :hidden:

   /gallery/plot_parameter_set
   /gallery/plot_bicycle
   /gallery/plot_models

Examples
========



.. raw:: html

    <div class="sphx-glr-thumbnails">

.. thumbnail-parent-div-open

.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Meijaard et al. presents a benchmark minimal linear Carvallo-Whipple bicycle model ([Meijaard2007]_, [Carvallo1899]_, [Whipple1899]_) with 27 unique constant parameters and two coordinates: roll angle \phi and steer angle \delta.">

.. only:: html

  .. image:: /gallery/examples/images/thumb/sphx_glr_plot_benchmark_thumb.png
    :alt:

  :ref:`sphx_glr_gallery_examples_plot_benchmark.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Benchmark Carvallo-Whipple Model</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="This example shows how to work with a model that includes a feedback controller and how to use a simple derivative control with it. The TU Delft Bicycle Lab developed a bicycle with a steer motor that can be controlled based on sensor measurements from an inertial measurement unit mounted on the rear frame, a steer angle sensor, and a speed sensor. The bicycle is based on an e-bike model from Royal Dutch Gazelle:">

.. only:: html

  .. image:: /gallery/examples/images/thumb/sphx_glr_plot_balanceassistv1_thumb.png
    :alt:

  :ref:`sphx_glr_gallery_examples_plot_balanceassistv1.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Balance Assist E-Bike with Roll Rate Feedback Steer Control</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="The Carvallo-Whipple bicycle model assumes that the rider is rigidly fixed to the rear frame of the bicycle. Here the model is extended to include a rigid body representing the rider&#x27;s upper body (torso, arms, head) which can lean relative to the rear frame through a single additional degree of freedom. The model is defined in [Moore2012]_ chapter &quot;Extensions of the Whipple Model&quot;, section Leaning rider extension.">

.. only:: html

  .. image:: /gallery/examples/images/thumb/sphx_glr_plot_mooreriderlean2012_thumb.png
    :alt:

  :ref:`sphx_glr_gallery_examples_plot_mooreriderlean2012.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Leaning Rider Model</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="We have a :py~bicycleparameters.models.Meijaard2007WithFeedbackModel that applies full state feedback to the :py~bicycleparameters.models.Meijaard2007Model using eight feedback gains. These feedback gains can be chosen with a variety of methods to stabilize the system. This example shows how to apply LQR control.">

.. only:: html

  .. image:: /gallery/examples/images/thumb/sphx_glr_plot_lqr_thumb.png
    :alt:

  :ref:`sphx_glr_gallery_examples_plot_lqr.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Full State Feedback Control With LQR</div>
    </div>


.. thumbnail-parent-div-close

.. raw:: html

    </div>


.. toctree::
   :hidden:
   :includehidden:


   /gallery/examples/index.rst


.. only:: html

  .. container:: sphx-glr-footer sphx-glr-footer-gallery

    .. container:: sphx-glr-download sphx-glr-download-python

      :download:`Download all examples in Python source code: gallery_python.zip </gallery/gallery_python.zip>`

    .. container:: sphx-glr-download sphx-glr-download-jupyter

      :download:`Download all examples in Jupyter notebooks: gallery_jupyter.zip </gallery/gallery_jupyter.zip>`


.. only:: html

 .. rst-class:: sphx-glr-signature

    `Gallery generated by Sphinx-Gallery <https://sphinx-gallery.github.io>`_