pyreneActuator.hh
Go to the documentation of this file.
1 #ifndef PYRENEACTUATOR_H
2 #define PYRENEACTUATOR_H
3 
5 
6 class pyreneActuator : public DynamicModel<double, 2, 1> {
7  public:
9  void setLoadParam(const double& mass, const double& coordX, const double& coordY);
10  void setLoadMass(const double& mass);
11  void removeLoad();
12  stateVec_t computeStateDeriv(double&, const stateVec_t& X, const commandVec_t& U);
13  stateVec_t computeNextState(double& dt, const stateVec_t& X, const commandVec_t& U);
14  void computeModelDeriv(double& dt, const stateVec_t& X, const commandVec_t& U);
18 
19  static const double J_j;
20  static const double K;
21  static const double F_vj;
22  static const double F_sj;
23  static const double J_m;
24  static const double F_vm;
25  static const double F_sm;
26  static const double offset_m;
27  static const double offset_j;
28  static const double M;
29  static const double c_x;
30  static const double c_y;
31  static const double mu;
32  static const double g;
33 
34  private:
35  double J;
36  double F_v;
37  double F_s;
38  double L; // load
39  double l_x;
40  double l_y;
41 
42  stateMat_t QxxCont;
43  commandMat_t QuuCont;
44  commandR_stateC_t QuxCont;
45 };
46 
47 #endif // PYRENEACTUATOR_H
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
Definition: pyreneActuator.hh:6
stateVec_t computeNextState(double &dt, const stateVec_t &X, const commandVec_t &U)
Definition: pyreneActuator.cpp:80
static const double M
Definition: pyreneActuator.hh:28
void setLoadMass(const double &mass)
Definition: pyreneActuator.cpp:63
pyreneActuator()
Definition: pyreneActuator.cpp:27
commandMat_t computeTensorContuu(const stateVec_t &nextVx)
Definition: pyreneActuator.cpp:106
static const double F_sm
Definition: pyreneActuator.hh:25
static const double c_y
Definition: pyreneActuator.hh:30
static const double g
Definition: pyreneActuator.hh:32
static const double c_x
Definition: pyreneActuator.hh:29
static const double offset_j
Definition: pyreneActuator.hh:27
static const double F_vm
Definition: pyreneActuator.hh:24
static const double J_j
Definition: pyreneActuator.hh:19
void computeModelDeriv(double &dt, const stateVec_t &X, const commandVec_t &U)
Definition: pyreneActuator.cpp:90
static const double K
Definition: pyreneActuator.hh:20
static const double J_m
Definition: pyreneActuator.hh:23
commandR_stateC_t computeTensorContux(const stateVec_t &nextVx)
Definition: pyreneActuator.cpp:108
void removeLoad()
Definition: pyreneActuator.cpp:68
static const double F_sj
Definition: pyreneActuator.hh:22
stateMat_t computeTensorContxx(const stateVec_t &nextVx)
Definition: pyreneActuator.cpp:104
void setLoadParam(const double &mass, const double &coordX, const double &coordY)
Definition: pyreneActuator.cpp:57
static const double mu
Definition: pyreneActuator.hh:31
static const double offset_m
Definition: pyreneActuator.hh:26
static const double F_vj
Definition: pyreneActuator.hh:21
stateVec_t computeStateDeriv(double &, const stateVec_t &X, const commandVec_t &U)
Definition: pyreneActuator.cpp:70