pyreneActuator.hh
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1 #ifndef PYRENEACTUATOR_H
2 #define PYRENEACTUATOR_H
3 
5 
6 class pyreneActuator : public DynamicModel<double, 2, 1> {
7  public:
9  void setLoadParam(const double& mass, const double& coordX,
10  const double& coordY);
11  void setLoadMass(const double& mass);
12  void removeLoad();
13  stateVec_t computeStateDeriv(double&, const stateVec_t& X,
14  const commandVec_t& U);
15  stateVec_t computeNextState(double& dt, const stateVec_t& X,
16  const commandVec_t& U);
17  void computeModelDeriv(double& dt, const stateVec_t& X,
18  const commandVec_t& U);
22 
23  static const double J_j;
24  static const double K;
25  static const double F_vj;
26  static const double F_sj;
27  static const double J_m;
28  static const double F_vm;
29  static const double F_sm;
30  static const double offset_m;
31  static const double offset_j;
32  static const double M;
33  static const double c_x;
34  static const double c_y;
35  static const double mu;
36  static const double g;
37 
38  private:
39  double J;
40  double F_v;
41  double F_s;
42  double L; // load
43  double l_x;
44  double l_y;
45 
46  stateMat_t QxxCont;
47  commandMat_t QuuCont;
48  commandR_stateC_t QuxCont;
49 };
50 
51 #endif // PYRENEACTUATOR_H
static const double F_vm
Definition: pyreneActuator.hh:28
static const double F_vj
Definition: pyreneActuator.hh:25
Definition: dynamicmodel.hh:7
double dt
Definition: dynamicmodel.hh:58
static const double c_x
Definition: pyreneActuator.hh:33
static const double c_y
Definition: pyreneActuator.hh:34
Eigen::Matrix< double, commandSize, stateSize > commandR_stateC_t
Definition: dynamicmodel.hh:37
static const double M
Definition: pyreneActuator.hh:32
void setLoadParam(const double &mass, const double &coordX, const double &coordY)
Definition: pyreneActuator.cpp:59
void removeLoad()
Definition: pyreneActuator.cpp:71
Eigen::Matrix< double, commandSize, commandSize > commandMat_t
Definition: dynamicmodel.hh:23
static const double J_j
Definition: pyreneActuator.hh:23
stateVec_t computeNextState(double &dt, const stateVec_t &X, const commandVec_t &U)
Definition: pyreneActuator.cpp:85
commandR_stateC_t computeTensorContux(const stateVec_t &nextVx)
Definition: pyreneActuator.cpp:122
Definition: pyreneActuator.hh:6
static const double offset_m
Definition: pyreneActuator.hh:30
Eigen::Matrix< double, stateSize, stateSize > stateMat_t
Definition: dynamicmodel.hh:13
Eigen::Matrix< double, stateSize, 1 > stateVec_t
Definition: dynamicmodel.hh:9
stateVec_t computeStateDeriv(double &, const stateVec_t &X, const commandVec_t &U)
Definition: pyreneActuator.cpp:73
pyreneActuator()
Definition: pyreneActuator.cpp:29
stateMat_t computeTensorContxx(const stateVec_t &nextVx)
Definition: pyreneActuator.cpp:112
static const double g
Definition: pyreneActuator.hh:36
void computeModelDeriv(double &dt, const stateVec_t &X, const commandVec_t &U)
Definition: pyreneActuator.cpp:96
static const double mu
Definition: pyreneActuator.hh:35
commandMat_t computeTensorContuu(const stateVec_t &nextVx)
Definition: pyreneActuator.cpp:117
static const double J_m
Definition: pyreneActuator.hh:27
static const double F_sm
Definition: pyreneActuator.hh:29
static const double F_sj
Definition: pyreneActuator.hh:26
Eigen::Matrix< double, commandSize, 1 > commandVec_t
Definition: dynamicmodel.hh:19
static const double K
Definition: pyreneActuator.hh:24
static const double offset_j
Definition: pyreneActuator.hh:31
void setLoadMass(const double &mass)
Definition: pyreneActuator.cpp:66