Loading...
Searching...
No Matches
pyreneActuator.hh
Go to the documentation of this file.
1#ifndef PYRENEACTUATOR_H
2#define PYRENEACTUATOR_H
3
5
6class pyreneActuator : public DynamicModel<double, 2, 1> {
7 public:
9 void setLoadParam(const double& mass, const double& coordX, const double& coordY);
10 void setLoadMass(const double& mass);
11 void removeLoad();
12 stateVec_t computeStateDeriv(double&, const stateVec_t& X, const commandVec_t& U);
13 stateVec_t computeNextState(double& dt, const stateVec_t& X, const commandVec_t& U);
14 void computeModelDeriv(double& dt, const stateVec_t& X, const commandVec_t& U);
18
19 static const double J_j;
20 static const double K;
21 static const double F_vj;
22 static const double F_sj;
23 static const double J_m;
24 static const double F_vm;
25 static const double F_sm;
26 static const double offset_m;
27 static const double offset_j;
28 static const double M;
29 static const double c_x;
30 static const double c_y;
31 static const double mu;
32 static const double g;
33
34 private:
35 double J;
36 double F_v;
37 double F_s;
38 double L; // load
39 double l_x;
40 double l_y;
41
42 stateMat_t QxxCont;
43 commandMat_t QuuCont;
44 commandR_stateC_t QuxCont;
45};
46
47#endif // PYRENEACTUATOR_H
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
Definition: pyreneActuator.hh:6
stateVec_t computeNextState(double &dt, const stateVec_t &X, const commandVec_t &U)
Definition: pyreneActuator.cpp:80
static const double M
Definition: pyreneActuator.hh:28
void setLoadMass(const double &mass)
Definition: pyreneActuator.cpp:63
pyreneActuator()
Definition: pyreneActuator.cpp:27
commandMat_t computeTensorContuu(const stateVec_t &nextVx)
Definition: pyreneActuator.cpp:106
static const double F_sm
Definition: pyreneActuator.hh:25
static const double c_y
Definition: pyreneActuator.hh:30
static const double g
Definition: pyreneActuator.hh:32
static const double c_x
Definition: pyreneActuator.hh:29
static const double offset_j
Definition: pyreneActuator.hh:27
static const double F_vm
Definition: pyreneActuator.hh:24
static const double J_j
Definition: pyreneActuator.hh:19
void computeModelDeriv(double &dt, const stateVec_t &X, const commandVec_t &U)
Definition: pyreneActuator.cpp:90
static const double K
Definition: pyreneActuator.hh:20
static const double J_m
Definition: pyreneActuator.hh:23
commandR_stateC_t computeTensorContux(const stateVec_t &nextVx)
Definition: pyreneActuator.cpp:108
void removeLoad()
Definition: pyreneActuator.cpp:68
static const double F_sj
Definition: pyreneActuator.hh:22
stateMat_t computeTensorContxx(const stateVec_t &nextVx)
Definition: pyreneActuator.cpp:104
void setLoadParam(const double &mass, const double &coordX, const double &coordY)
Definition: pyreneActuator.cpp:57
static const double mu
Definition: pyreneActuator.hh:31
static const double offset_m
Definition: pyreneActuator.hh:26
static const double F_vj
Definition: pyreneActuator.hh:21
stateVec_t computeStateDeriv(double &, const stateVec_t &X, const commandVec_t &U)
Definition: pyreneActuator.cpp:70