#include <ddp-actuator-solver/romeo_actuator/romeotorqueactuator.hh>
Public Member Functions | |
RomeoTorqueActuator (double &mydt) | |
stateVec_t | computeNextState (double &dt, const stateVec_t &X, const commandVec_t &U) |
void | computeModelDeriv (double &dt, const stateVec_t &X, const commandVec_t &U) |
stateMat_t | computeTensorContxx (const stateVec_t &nextVx) |
commandMat_t | computeTensorContuu (const stateVec_t &nextVx) |
commandR_stateC_t | computeTensorContux (const stateVec_t &nextVx) |
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unsigned int | getStateNb () |
unsigned int | getCommandNb () |
commandVec_t & | getLowerCommandBounds () |
commandVec_t & | getUpperCommandBounds () |
stateMat_t & | getfx () |
stateTens_t & | getfxx () |
stateR_commandC_t & | getfu () |
stateR_commandC_commandD_t & | getfuu () |
stateR_stateC_commandD_t & | getfxu () |
stateR_commandC_stateD_t & | getfux () |
Static Public Attributes | |
static const double | k = 588.0 |
static const double | R = 96.1 |
static const double | Jm = 183 * 1e-7 |
static const double | Jl = 0.000085 |
static const double | fvm = 5.65e-5 |
static const double | fvl = 0.278 |
static const double | Kt = 0.0578 |
static const double | mu = 0.52 |
static const double | Cf0 = 0.0 |
static const double | a = 0.0 |
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 |
RomeoTorqueActuator::RomeoTorqueActuator | ( | double & | mydt | ) |
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Implements DynamicModel< double, 4, 1 >.
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Implements DynamicModel< double, 4, 1 >.
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Implements DynamicModel< double, 4, 1 >.
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Implements DynamicModel< double, 4, 1 >.
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Implements DynamicModel< double, 4, 1 >.
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