modelLinear.hh
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1 #ifndef MODEL_H
2 #define MODEL_H
3 
5 
6 class ModelLinear : public DynamicModel<double, 2, 1> {
7  public:
8  ModelLinear(double& mydt, bool noiseOnParameters = 0);
9  virtual ~ModelLinear(){};
10 
11  private:
12  protected:
13  // attributes //
14  public:
15  private:
16  double dt;
17  double l;
18  double M;
19  double m;
20  double g;
21 
22  private:
23  stateVec_t Xreal, dX;
24  stateVec_t x_next, k1, k2, k3, k4;
25  stateMat_t Id;
26 
27  stateMat_t QxxCont;
28  commandMat_t QuuCont;
29  commandR_stateC_t QuxCont;
30 
31  protected:
32  // methods //
33  public:
34  stateVec_t computeDeriv(double& dt, const stateVec_t& X, const commandVec_t& U);
35  stateVec_t computeNextState(double& dt, const stateVec_t& X, const commandVec_t& U);
36  void computeModelDeriv(double& dt, const stateVec_t& X, const commandVec_t& U);
40 
41  private:
42  protected:
43  // accessors //
44  public:
45 };
46 
47 #endif // MODEL_H
Definition: dynamicmodel.hh:7
Eigen::Matrix< double, stateSize, 1 > stateVec_t
Definition: dynamicmodel.hh:9
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: modelLinear.hh:6
commandMat_t computeTensorContuu(const stateVec_t &nextVx)
Definition: modelLinear.cpp:93
stateVec_t computeNextState(double &dt, const stateVec_t &X, const commandVec_t &U)
Definition: modelLinear.cpp:53
virtual ~ModelLinear()
Definition: modelLinear.hh:9
stateVec_t computeDeriv(double &dt, const stateVec_t &X, const commandVec_t &U)
Definition: modelLinear.cpp:47
commandR_stateC_t computeTensorContux(const stateVec_t &nextVx)
Definition: modelLinear.cpp:95
ModelLinear(double &mydt, bool noiseOnParameters=0)
Definition: modelLinear.cpp:16
stateMat_t computeTensorContxx(const stateVec_t &nextVx)
Definition: modelLinear.cpp:91
void computeModelDeriv(double &dt, const stateVec_t &X, const commandVec_t &U)
Definition: modelLinear.cpp:63