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romeotorqueactuator.hh
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1#ifndef ROMEOTORQUEACTUATOR_H
2#define ROMEOTORQUEACTUATOR_H
3
5
6class RomeoTorqueActuator : public DynamicModel<double, 4, 1> {
7 public:
8 RomeoTorqueActuator(double& mydt);
9
10 private:
11 protected:
12 // attributes //
13 public:
14 private:
15 double dt;
16
17 public:
18 /*static const double k;
19 static const double R;
20 static const double Jm;
21 static const double Jl;
22 static const double fvm;
23 static const double Cf0;
24 static const double a;*/
25
26 static const double k;
27 static const double R;
28 static const double Jm;
29 static const double Jl;
30 static const double fvm;
31 static const double fvl;
32 static const double Kt;
33 static const double mu;
34 static const double Cf0;
35 static const double a;
36
37 private:
38 stateVec_t Xreal;
39 stateMat_t Id;
40 stateMat_t A;
41 stateMat_t Ad;
44 double A13atan;
45 double A33atan;
46 stateMat_t fxBase;
47 stateR_commandC_t fuBase;
48
49 stateMat_t QxxCont;
50 commandMat_t QuuCont;
51 commandR_stateC_t QuxCont;
52
53 protected:
54 // methods //
55 public:
56 stateVec_t computeNextState(double& dt, const stateVec_t& X,
57 const commandVec_t& U);
58 void computeModelDeriv(double& dt, const stateVec_t& X,
59 const commandVec_t& U);
63
64 private:
65 protected:
66 // accessors //
67 public:
68};
69
70#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:29
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 romeotorqueactuator.hh:6
static const double Kt
Definition romeotorqueactuator.hh:32
void computeModelDeriv(double &dt, const stateVec_t &X, const commandVec_t &U)
Definition romeotorqueactuator.cpp:70
commandR_stateC_t computeTensorContux(const stateVec_t &nextVx)
Definition romeotorqueactuator.cpp:96
static const double fvm
Definition romeotorqueactuator.hh:30
static const double fvl
Definition romeotorqueactuator.hh:31
RomeoTorqueActuator(double &mydt)
Definition romeotorqueactuator.cpp:24
stateVec_t computeNextState(double &dt, const stateVec_t &X, const commandVec_t &U)
Definition romeotorqueactuator.cpp:58
static const double a
Definition romeotorqueactuator.hh:35
static const double Jm
Definition romeotorqueactuator.hh:28
static const double mu
Definition romeotorqueactuator.hh:33
static const double Cf0
Definition romeotorqueactuator.hh:34
stateMat_t computeTensorContxx(const stateVec_t &nextVx)
Definition romeotorqueactuator.cpp:86
static const double R
Definition romeotorqueactuator.hh:27
static const double Jl
Definition romeotorqueactuator.hh:29
commandMat_t computeTensorContuu(const stateVec_t &nextVx)
Definition romeotorqueactuator.cpp:91
static const double k
Definition romeotorqueactuator.hh:26