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romeosimpleactuator.hh
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1#ifndef ROMEOSIMPLEACTUATOR_H
2#define ROMEOSIMPLEACTUATOR_H
3
5
6class RomeoSimpleActuator : public DynamicModel<double, 4, 1> {
7 public:
8 RomeoSimpleActuator(double& mydt, bool noiseOnParameters = 0);
10
11 private:
12 protected:
13 // attributes //
14 public:
15 private:
16 double dt;
17
18 private:
19 double k;
20 double R;
21 double Jm;
22 double Jl;
23 double fvm;
24 double fvl;
25 double Kt;
26 double mu;
27 double Cf0;
28 double a;
29
30 private:
31 stateVec_t Xreal;
32 stateMat_t Id;
33 stateMat_t A;
34 stateMat_t Ad;
37 double A13atan;
38 double A33atan;
39 stateMat_t fxBase;
40 stateR_commandC_t fuBase;
41
42 stateMat_t QxxCont;
43 commandMat_t QuuCont;
44 commandR_stateC_t QuxCont;
45
46 protected:
47 // methods //
48 public:
49 stateVec_t computeNextState(double& dt, const stateVec_t& X, const commandVec_t& U);
50 void computeModelDeriv(double& dt, const stateVec_t& X, const commandVec_t& U);
54
55 private:
56 protected:
57 // accessors //
58 public:
59};
60
61#endif // ROMEOSIMPLEACTUATOR_H
Definition: dynamicmodel.hh:7
Eigen::Matrix< double, stateSize, 1 > stateVec_t
Definition: dynamicmodel.hh:9
Eigen::Matrix< double, stateSize, commandSize > stateR_commandC_t
Definition: dynamicmodel.hh:22
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: romeosimpleactuator.hh:6
void computeModelDeriv(double &dt, const stateVec_t &X, const commandVec_t &U)
Definition: romeosimpleactuator.cpp:92
commandMat_t computeTensorContuu(const stateVec_t &nextVx)
Definition: romeosimpleactuator.cpp:108
stateVec_t computeNextState(double &dt, const stateVec_t &X, const commandVec_t &U)
Definition: romeosimpleactuator.cpp:79
commandR_stateC_t computeTensorContux(const stateVec_t &nextVx)
Definition: romeosimpleactuator.cpp:110
virtual ~RomeoSimpleActuator()
Definition: romeosimpleactuator.hh:9
stateMat_t computeTensorContxx(const stateVec_t &nextVx)
Definition: romeosimpleactuator.cpp:106