dctemp.hh
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1 #ifndef DCTEMP_H
2 #define DCTEMP_H
3 
5 
6 class DCTemp : public DynamicModel<double, 5, 1> {
7  public:
8  DCTemp(bool noiseOnParameters = 0);
9  virtual ~DCTemp(){};
10 
11  private:
12  protected:
13  // attributes //
14  public:
15  private:
16  double dt_;
17 
18  private:
19  double J_;
20  double K_M_;
21  double f_VL_;
22  double R_th_;
23  double tau_th_;
24 
25  private:
26  stateVec_t Xreal_, dX_;
27  stateVec_t x_next_, k1_, k2_, k3_, k4_;
28  stateMat_t Id_;
29 
30  stateMat_t QxxCont_;
31  commandMat_t QuuCont_;
32  commandR_stateC_t QuxCont_;
33 
34  protected:
35  // methods //
36  public:
37  stateVec_t computeDeriv(double& dt, const stateVec_t& X, const commandVec_t& U);
38  stateVec_t computeNextState(double& dt, const stateVec_t& X, const commandVec_t& U);
39  void computeModelDeriv(double& dt, const stateVec_t& X, const commandVec_t& U);
43 
44  private:
45  protected:
46  // accessors //
47  public:
48 };
49 
50 #endif // DCTEMP_H
Definition: dctemp.hh:6
DCTemp(bool noiseOnParameters=0)
Definition: dctemp.cpp:17
stateVec_t computeNextState(double &dt, const stateVec_t &X, const commandVec_t &U)
Definition: dctemp.cpp:74
stateMat_t computeTensorContxx(const stateVec_t &nextVx)
Definition: dctemp.cpp:97
virtual ~DCTemp()
Definition: dctemp.hh:9
commandR_stateC_t computeTensorContux(const stateVec_t &nextVx)
Definition: dctemp.cpp:101
void computeModelDeriv(double &dt, const stateVec_t &X, const commandVec_t &U)
Definition: dctemp.cpp:83
commandMat_t computeTensorContuu(const stateVec_t &nextVx)
Definition: dctemp.cpp:99
stateVec_t computeDeriv(double &dt, const stateVec_t &X, const commandVec_t &U)
Definition: dctemp.cpp:64
Definition: dynamicmodel.hh:7
Eigen::Matrix< double, stateSize, 1 > stateVec_t
Definition: dynamicmodel.hh:9
double dt
Definition: dynamicmodel.hh:44
Eigen::Matrix< double, stateSize, stateSize > stateMat_t
Definition: dynamicmodel.hh:11
Eigen::Matrix< double, commandSize, 1 > commandVec_t
Definition: dynamicmodel.hh:15
Eigen::Matrix< double, commandSize, stateSize > commandR_stateC_t
Definition: dynamicmodel.hh:27
Eigen::Matrix< double, commandSize, commandSize > commandMat_t
Definition: dynamicmodel.hh:17