1 #ifndef PYRENEACTUATOR_H 2 #define PYRENEACTUATOR_H 10 void setLoadParam(
const double& mass,
const double& coordX,
const double& coordY);
20 static const double J_j;
21 static const double K;
24 static const double J_m;
29 static const double M;
30 static const double c_x;
31 static const double c_y;
32 static const double mu;
33 static const double g;
49 #endif // PYRENEACTUATOR_H static const double F_vm
Definition: pyreneActuator.hh:25
static const double F_vj
Definition: pyreneActuator.hh:22
Definition: dynamicmodel.hh:7
double dt
Definition: dynamicmodel.hh:40
static const double c_x
Definition: pyreneActuator.hh:30
static const double c_y
Definition: pyreneActuator.hh:31
static const double M
Definition: pyreneActuator.hh:29
void setLoadParam(const double &mass, const double &coordX, const double &coordY)
Definition: pyreneActuator.cpp:57
Eigen::Matrix< double, stateSize, 1 > stateVec_t
Definition: dynamicmodel.hh:10
void removeLoad()
Definition: pyreneActuator.cpp:68
static const double J_j
Definition: pyreneActuator.hh:20
stateVec_t computeNextState(double &dt, const stateVec_t &X, const commandVec_t &U)
Definition: pyreneActuator.cpp:80
commandR_stateC_t computeTensorContux(const stateVec_t &nextVx)
Definition: pyreneActuator.cpp:108
Definition: pyreneActuator.hh:6
static const double offset_m
Definition: pyreneActuator.hh:27
stateVec_t computeStateDeriv(double &, const stateVec_t &X, const commandVec_t &U)
Definition: pyreneActuator.cpp:70
pyreneActuator()
Definition: pyreneActuator.cpp:27
stateMat_t computeTensorContxx(const stateVec_t &nextVx)
Definition: pyreneActuator.cpp:104
static const double g
Definition: pyreneActuator.hh:33
Eigen::Matrix< double, commandSize, 1 > commandVec_t
Definition: dynamicmodel.hh:16
void computeModelDeriv(double &dt, const stateVec_t &X, const commandVec_t &U)
Definition: pyreneActuator.cpp:90
Eigen::Matrix< double, stateSize, stateSize > stateMat_t
Definition: dynamicmodel.hh:12
static const double mu
Definition: pyreneActuator.hh:32
commandMat_t computeTensorContuu(const stateVec_t &nextVx)
Definition: pyreneActuator.cpp:106
static const double J_m
Definition: pyreneActuator.hh:24
static const double F_sm
Definition: pyreneActuator.hh:26
Eigen::Matrix< double, commandSize, stateSize > commandR_stateC_t
Definition: dynamicmodel.hh:27
static const double F_sj
Definition: pyreneActuator.hh:23
static const double K
Definition: pyreneActuator.hh:21
Eigen::Matrix< double, commandSize, commandSize > commandMat_t
Definition: dynamicmodel.hh:18
static const double offset_j
Definition: pyreneActuator.hh:28
void setLoadMass(const double &mass)
Definition: pyreneActuator.cpp:63