1 #ifndef PYRENEACTUATOR_H
2 #define PYRENEACTUATOR_H
9 void setLoadParam(
const double& mass,
const double& coordX,
10 const double& coordY);
23 static const double J_j;
24 static const double K;
27 static const double J_m;
32 static const double M;
33 static const double c_x;
34 static const double c_y;
35 static const double mu;
36 static const double g;
Definition: dynamicmodel.hh:7
Eigen::Matrix< double, stateSize, 1 > stateVec_t
Definition: dynamicmodel.hh:9
double dt
Definition: dynamicmodel.hh:58
Eigen::Matrix< double, stateSize, stateSize > stateMat_t
Definition: dynamicmodel.hh:13
Eigen::Matrix< double, commandSize, 1 > commandVec_t
Definition: dynamicmodel.hh:19
Eigen::Matrix< double, commandSize, stateSize > commandR_stateC_t
Definition: dynamicmodel.hh:37
Eigen::Matrix< double, commandSize, commandSize > commandMat_t
Definition: dynamicmodel.hh:23
Definition: pyreneActuator.hh:6
stateVec_t computeNextState(double &dt, const stateVec_t &X, const commandVec_t &U)
Definition: pyreneActuator.cpp:85
static const double M
Definition: pyreneActuator.hh:32
void setLoadMass(const double &mass)
Definition: pyreneActuator.cpp:66
pyreneActuator()
Definition: pyreneActuator.cpp:29
commandMat_t computeTensorContuu(const stateVec_t &nextVx)
Definition: pyreneActuator.cpp:117
static const double F_sm
Definition: pyreneActuator.hh:29
static const double c_y
Definition: pyreneActuator.hh:34
static const double g
Definition: pyreneActuator.hh:36
static const double c_x
Definition: pyreneActuator.hh:33
static const double offset_j
Definition: pyreneActuator.hh:31
static const double F_vm
Definition: pyreneActuator.hh:28
static const double J_j
Definition: pyreneActuator.hh:23
void computeModelDeriv(double &dt, const stateVec_t &X, const commandVec_t &U)
Definition: pyreneActuator.cpp:96
static const double K
Definition: pyreneActuator.hh:24
static const double J_m
Definition: pyreneActuator.hh:27
commandR_stateC_t computeTensorContux(const stateVec_t &nextVx)
Definition: pyreneActuator.cpp:122
void removeLoad()
Definition: pyreneActuator.cpp:71
static const double F_sj
Definition: pyreneActuator.hh:26
stateMat_t computeTensorContxx(const stateVec_t &nextVx)
Definition: pyreneActuator.cpp:112
void setLoadParam(const double &mass, const double &coordX, const double &coordY)
Definition: pyreneActuator.cpp:59
static const double mu
Definition: pyreneActuator.hh:35
static const double offset_m
Definition: pyreneActuator.hh:30
static const double F_vj
Definition: pyreneActuator.hh:25
stateVec_t computeStateDeriv(double &, const stateVec_t &X, const commandVec_t &U)
Definition: pyreneActuator.cpp:73