romeotorqueactuator.hh
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1 #ifndef ROMEOTORQUEACTUATOR_H
2 #define ROMEOTORQUEACTUATOR_H
3 
5 
6 class RomeoTorqueActuator : public DynamicModel<double,4,1>
7 {
8 public:
9  RomeoTorqueActuator(double& mydt);
10 private:
11 protected:
12 
13  // attributes //
14 public:
15 private:
16  double dt;
17 public:
18  /*static const double k;
19  static const double R;
20  static const double Jm;
21  static const double Jl;
22  static const double fvm;
23  static const double Cf0;
24  static const double a;*/
25 
26  static const double k;
27  static const double R;
28  static const double Jm;
29  static const double Jl;
30  static const double fvm;
31  static const double fvl;
32  static const double Kt;
33  static const double mu;
34  static const double Cf0;
35  static const double a;
36 private:
37  stateVec_t Xreal;
38  stateMat_t Id;
39  stateMat_t A;
40  stateMat_t Ad;
43  double A13atan;
44  double A33atan;
45  stateMat_t fxBase;
46  stateR_commandC_t fuBase;
47 
48  stateMat_t QxxCont;
49  commandMat_t QuuCont;
50  commandR_stateC_t QuxCont;
51 
52 protected:
53  // methods //
54 public:
55  stateVec_t computeNextState(double& dt, const stateVec_t& X, const commandVec_t &U);
56  void computeModelDeriv(double& dt, const stateVec_t& X, const commandVec_t &U);
60 private:
61 protected:
62  // accessors //
63 public:
64 
65 };
66 
67 #endif // ROMEOSIMPLEACTUATOR_H
Eigen::Matrix< double, stateSize, commandSize > stateR_commandC_t
Definition: dynamicmodel.hh:24
static const double Jl
Definition: romeotorqueactuator.hh:29
Definition: dynamicmodel.hh:7
static const double k
Definition: romeotorqueactuator.hh:26
static const double fvl
Definition: romeotorqueactuator.hh:31
static const double Jm
Definition: romeotorqueactuator.hh:28
static const double mu
Definition: romeotorqueactuator.hh:33
Eigen::Matrix< double, stateSize, 1 > stateVec_t
Definition: dynamicmodel.hh:10
RomeoTorqueActuator(double &mydt)
Definition: romeotorqueactuator.cpp:24
commandR_stateC_t computeTensorContux(const stateVec_t &nextVx)
Definition: romeotorqueactuator.cpp:87
static const double a
Definition: romeotorqueactuator.hh:35
stateVec_t computeNextState(double &dt, const stateVec_t &X, const commandVec_t &U)
Definition: romeotorqueactuator.cpp:57
void computeModelDeriv(double &dt, const stateVec_t &X, const commandVec_t &U)
Definition: romeotorqueactuator.cpp:69
commandMat_t computeTensorContuu(const stateVec_t &nextVx)
Definition: romeotorqueactuator.cpp:85
static const double fvm
Definition: romeotorqueactuator.hh:30
static const double R
Definition: romeotorqueactuator.hh:27
Eigen::Matrix< double, commandSize, 1 > commandVec_t
Definition: dynamicmodel.hh:16
Definition: romeotorqueactuator.hh:6
Eigen::Matrix< double, stateSize, stateSize > stateMat_t
Definition: dynamicmodel.hh:12
stateMat_t computeTensorContxx(const stateVec_t &nextVx)
Definition: romeotorqueactuator.cpp:83
static const double Kt
Definition: romeotorqueactuator.hh:32
Eigen::Matrix< double, commandSize, stateSize > commandR_stateC_t
Definition: dynamicmodel.hh:27
static const double Cf0
Definition: romeotorqueactuator.hh:34
Eigen::Matrix< double, commandSize, commandSize > commandMat_t
Definition: dynamicmodel.hh:18