RobotLocomotion/drake — pull request #404 by andybarry (2014-09-14 07:07:30+00:00)
Title: Implements massless position controlled control surfaces

Works on #107 by implementing position controlled control surfaces via linearizing around u = 0 to create a B matrix for the control surfaces. Includes a unit test and, while changing a substantial amount under the hood, does not modify the existing RigidBodyWing interface and testWing should still pass.

I did this by implementing RigidBodySubWing classes that dealt with the actual computation and a RigidBodyWing (which can contain multiple subwings) sums up the forces created by its subwings. The old interface is implemented by creating a single subwing and having calls basically pass right through RigidBodyWing to its instance of the RigidBodySubWing. @blandry should take a look.