#include <ddp-actuator-solver/dynamicmodel.hh>

Public Types | |
| typedef Eigen::Matrix< precision, stateSize, 1 > | stateVec_t |
| typedef Eigen::Matrix< precision, 1, stateSize > | stateVecTrans_t |
| typedef Eigen::Matrix< precision, stateSize, stateSize > | stateMat_t |
| typedef Eigen::Matrix< precision, stateSize, stateSize > | stateTens_t[stateSize] |
| typedef Eigen::Matrix< precision, commandSize, 1 > | commandVec_t |
| typedef Eigen::Matrix< precision, 1, commandSize > | commandVecTrans_t |
| typedef Eigen::Matrix< precision, commandSize, commandSize > | commandMat_t |
| typedef Eigen::Matrix< precision, commandSize, commandSize > | commandTens_t[commandSize] |
| typedef Eigen::Matrix< precision, stateSize, commandSize > | stateR_commandC_t |
| typedef Eigen::Matrix< precision, stateSize, commandSize > | stateR_commandC_stateD_t[stateSize] |
| typedef Eigen::Matrix< precision, stateSize, commandSize > | stateR_commandC_commandD_t[commandSize] |
| typedef Eigen::Matrix< precision, commandSize, stateSize > | commandR_stateC_t |
| typedef Eigen::Matrix< precision, commandSize, stateSize > | commandR_stateC_stateD_t[stateSize] |
| typedef Eigen::Matrix< precision, commandSize, stateSize > | commandR_stateC_commandD_t[commandSize] |
| typedef Eigen::Matrix< precision, stateSize, stateSize > | stateR_stateC_commandD_t[commandSize] |
| typedef Eigen::Matrix< precision, commandSize, commandSize > | commandR_commandC_stateD_t[stateSize] |
Public Member Functions | |
| virtual stateVec_t | computeNextState (double &dt, const stateVec_t &X, const commandVec_t &U)=0 |
| virtual void | computeModelDeriv (double &dt, const stateVec_t &X, const commandVec_t &U)=0 |
| virtual stateMat_t | computeTensorContxx (const stateVec_t &nextVx)=0 |
| virtual commandMat_t | computeTensorContuu (const stateVec_t &nextVx)=0 |
| virtual commandR_stateC_t | computeTensorContux (const stateVec_t &nextVx)=0 |
| unsigned int | getStateNb () |
| unsigned int | getCommandNb () |
| commandVec_t & | getLowerCommandBounds () |
| commandVec_t & | getUpperCommandBounds () |
| stateMat_t & | getfx () |
| stateTens_t & | getfxx () |
| stateR_commandC_t & | getfu () |
| stateR_commandC_commandD_t & | getfuu () |
| stateR_stateC_commandD_t & | getfxu () |
| stateR_commandC_stateD_t & | getfux () |
Protected Attributes | |
| unsigned int | stateNb |
| unsigned int | commandNb |
| double | dt |
| commandVec_t | lowerCommandBounds |
| commandVec_t | upperCommandBounds |
| stateMat_t | fx |
| stateTens_t | fxx |
| stateR_commandC_t | fu |
| stateR_commandC_commandD_t | fuu |
| stateR_stateC_commandD_t | fxu |
| stateR_commandC_stateD_t | fux |
| typedef Eigen::Matrix<precision, commandSize, commandSize> DynamicModel< precision, stateSize, commandSize >::commandMat_t |
| typedef Eigen::Matrix<precision, commandSize, commandSize> DynamicModel< precision, stateSize, commandSize >::commandR_commandC_stateD_t[stateSize] |
| typedef Eigen::Matrix<precision, commandSize, stateSize> DynamicModel< precision, stateSize, commandSize >::commandR_stateC_commandD_t[commandSize] |
| typedef Eigen::Matrix<precision, commandSize, stateSize> DynamicModel< precision, stateSize, commandSize >::commandR_stateC_stateD_t[stateSize] |
| typedef Eigen::Matrix<precision, commandSize, stateSize> DynamicModel< precision, stateSize, commandSize >::commandR_stateC_t |
| typedef Eigen::Matrix<precision, commandSize, commandSize> DynamicModel< precision, stateSize, commandSize >::commandTens_t[commandSize] |
| typedef Eigen::Matrix<precision, commandSize, 1> DynamicModel< precision, stateSize, commandSize >::commandVec_t |
| typedef Eigen::Matrix<precision, 1, commandSize> DynamicModel< precision, stateSize, commandSize >::commandVecTrans_t |
| typedef Eigen::Matrix<precision, stateSize, stateSize> DynamicModel< precision, stateSize, commandSize >::stateMat_t |
| typedef Eigen::Matrix<precision, stateSize, commandSize> DynamicModel< precision, stateSize, commandSize >::stateR_commandC_commandD_t[commandSize] |
| typedef Eigen::Matrix<precision, stateSize, commandSize> DynamicModel< precision, stateSize, commandSize >::stateR_commandC_stateD_t[stateSize] |
| typedef Eigen::Matrix<precision, stateSize, commandSize> DynamicModel< precision, stateSize, commandSize >::stateR_commandC_t |
| typedef Eigen::Matrix<precision, stateSize, stateSize> DynamicModel< precision, stateSize, commandSize >::stateR_stateC_commandD_t[commandSize] |
| typedef Eigen::Matrix<precision, stateSize, stateSize> DynamicModel< precision, stateSize, commandSize >::stateTens_t[stateSize] |
| typedef Eigen::Matrix<precision, stateSize, 1> DynamicModel< precision, stateSize, commandSize >::stateVec_t |
| typedef Eigen::Matrix<precision, 1, stateSize> DynamicModel< precision, stateSize, commandSize >::stateVecTrans_t |
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pure virtual |
Implemented in ModelLinear, RomeoSimpleActuator, and DCTemp.
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pure virtual |
Implemented in ModelLinear, RomeoSimpleActuator, and DCTemp.
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pure virtual |
Implemented in ModelLinear, RomeoSimpleActuator, and DCTemp.
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pure virtual |
Implemented in ModelLinear, RomeoSimpleActuator, and DCTemp.
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pure virtual |
Implemented in ModelLinear, RomeoSimpleActuator, and DCTemp.
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