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modelIP.hh
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1#ifndef MODEL_H
2#define MODEL_H
3
5
6class ModelIP : public DynamicModel<double, 5, 1> {
7 public:
8 ModelIP(double& mydt, bool noiseOnParameters = 0);
9 virtual ~ModelIP(){};
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 // 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: modelIP.hh:6
stateVec_t computeNextState(double &dt, const stateVec_t &X, const commandVec_t &U)
Definition: modelIP.cpp:72
commandMat_t computeTensorContuu(const stateVec_t &nextVx)
Definition: modelIP.cpp:97
void computeModelDeriv(double &dt, const stateVec_t &X, const commandVec_t &U)
Definition: modelIP.cpp:81
virtual ~ModelIP()
Definition: modelIP.hh:9
stateVec_t computeDeriv(double &dt, const stateVec_t &X, const commandVec_t &U)
Definition: modelIP.cpp:62
stateMat_t computeTensorContxx(const stateVec_t &nextVx)
Definition: modelIP.cpp:95
commandR_stateC_t computeTensorContux(const stateVec_t &nextVx)
Definition: modelIP.cpp:99