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dctemp.hh
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1#ifndef DCTEMP_H
2#define DCTEMP_H
3
5
6class DCTemp : public DynamicModel<double, 5, 1> {
7 public:
8 DCTemp(bool noiseOnParameters = 0);
9 virtual ~DCTemp(){};
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 // DCTEMP_H
Definition: dctemp.hh:6
stateVec_t computeNextState(double &dt, const stateVec_t &X, const commandVec_t &U)
Definition: dctemp.cpp:74
stateMat_t computeTensorContxx(const stateVec_t &nextVx)
Definition: dctemp.cpp:97
virtual ~DCTemp()
Definition: dctemp.hh:9
commandR_stateC_t computeTensorContux(const stateVec_t &nextVx)
Definition: dctemp.cpp:101
void computeModelDeriv(double &dt, const stateVec_t &X, const commandVec_t &U)
Definition: dctemp.cpp:83
commandMat_t computeTensorContuu(const stateVec_t &nextVx)
Definition: dctemp.cpp:99
stateVec_t computeDeriv(double &dt, const stateVec_t &X, const commandVec_t &U)
Definition: dctemp.cpp:64
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