#include <ddp-actuator-solver/pyrene_actuator/pyreneActuator.hh>
Static Public Attributes | |
static const double | J_j = 0.5878 |
static const double | K = 10.6 |
static const double | F_vj = 0.4757 |
static const double | F_sj = 0.5403 |
static const double | J_m = 0.21 |
static const double | F_vm = 5.6714 |
static const double | F_sm = 4.0420 |
static const double | offset_m = 0.5572 |
static const double | offset_j = -0.3012 |
static const double | M = 4.5667 |
static const double | c_x = -0.0981 / M |
static const double | c_y = 1.1005 / M |
static const double | mu = 1000.0 |
static const double | g = 9.81 |
Additional Inherited Members | |
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typedef Eigen::Matrix< double, stateSize, 1 > | stateVec_t |
typedef Eigen::Matrix< double, 1, stateSize > | stateVecTrans_t |
typedef Eigen::Matrix< double, stateSize, stateSize > | stateMat_t |
typedef Eigen::Matrix< double, stateSize, stateSize > | stateTens_t[stateSize] |
typedef Eigen::Matrix< double, commandSize, 1 > | commandVec_t |
typedef Eigen::Matrix< double, 1, commandSize > | commandVecTrans_t |
typedef Eigen::Matrix< double, commandSize, commandSize > | commandMat_t |
typedef Eigen::Matrix< double, commandSize, commandSize > | commandTens_t[commandSize] |
typedef Eigen::Matrix< double, stateSize, commandSize > | stateR_commandC_t |
typedef Eigen::Matrix< double, stateSize, commandSize > | stateR_commandC_stateD_t[stateSize] |
typedef Eigen::Matrix< double, stateSize, commandSize > | stateR_commandC_commandD_t[commandSize] |
typedef Eigen::Matrix< double, commandSize, stateSize > | commandR_stateC_t |
typedef Eigen::Matrix< double, commandSize, stateSize > | commandR_stateC_stateD_t[stateSize] |
typedef Eigen::Matrix< double, commandSize, stateSize > | commandR_stateC_commandD_t[commandSize] |
typedef Eigen::Matrix< double, stateSize, stateSize > | stateR_stateC_commandD_t[commandSize] |
typedef Eigen::Matrix< double, commandSize, commandSize > | commandR_commandC_stateD_t[stateSize] |
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unsigned int | stateNb |
unsigned int | commandNb |
double | dt |
commandVec_t | lowerCommandBounds |
commandVec_t | upperCommandBounds |
stateMat_t | fx |
stateTens_t | fxx |
stateR_commandC_t | fu |
stateR_commandC_commandD_t | fuu |
stateR_stateC_commandD_t | fxu |
stateR_commandC_stateD_t | fux |
pyreneActuator::pyreneActuator | ( | ) |
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Implements DynamicModel< double, 2, 1 >.
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Implements DynamicModel< double, 2, 1 >.
pyreneActuator::stateVec_t pyreneActuator::computeStateDeriv | ( | double & | , |
const stateVec_t & | X, | ||
const commandVec_t & | U | ||
) |
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Implements DynamicModel< double, 2, 1 >.
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Implements DynamicModel< double, 2, 1 >.
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Implements DynamicModel< double, 2, 1 >.
void pyreneActuator::removeLoad | ( | ) |
void pyreneActuator::setLoadMass | ( | const double & | mass | ) |
void pyreneActuator::setLoadParam | ( | const double & | mass, |
const double & | coordX, | ||
const double & | coordY | ||
) |
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