romeosimpleactuator.hh
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1 #ifndef ROMEOSIMPLEACTUATOR_H
2 #define ROMEOSIMPLEACTUATOR_H
3 
5 
6 class RomeoSimpleActuator: public DynamicModel<double, 4, 1>
7 {
8  public:
9  RomeoSimpleActuator(double& mydt, bool noiseOnParameters = 0);
10  virtual ~RomeoSimpleActuator() {};
11  private:
12  protected:
13 
14  // attributes //
15  public:
16  private:
17  double dt;
18  private:
19  double k;
20  double R;
21  double Jm;
22  double Jl;
23  double fvm;
24  double fvl;
25  double Kt;
26  double mu;
27  double Cf0;
28  double a;
29  private:
30  stateVec_t Xreal;
31  stateMat_t Id;
32  stateMat_t A;
33  stateMat_t Ad;
36  double A13atan;
37  double A33atan;
38  stateMat_t fxBase;
39  stateR_commandC_t fuBase;
40 
41  stateMat_t QxxCont;
42  commandMat_t QuuCont;
43  commandR_stateC_t QuxCont;
44 
45  protected:
46  // methods //
47  public:
48  stateVec_t computeNextState(double& dt, const stateVec_t& X,
49  const commandVec_t &U);
50  void computeModelDeriv(double& dt, const stateVec_t& X,
51  const commandVec_t &U);
55  private:
56  protected:
57  // accessors //
58  public:
59 
60 };
61 
62 #endif // ROMEOSIMPLEACTUATOR_H
RomeoSimpleActuator::computeTensorContxx
stateMat_t computeTensorContxx(const stateVec_t &nextVx)
Definition: romeosimpleactuator.cpp:106
DynamicModel
Definition: dynamicmodel.hh:7
RomeoSimpleActuator::computeTensorContuu
commandMat_t computeTensorContuu(const stateVec_t &nextVx)
Definition: romeosimpleactuator.cpp:108
RomeoSimpleActuator::computeNextState
stateVec_t computeNextState(double &dt, const stateVec_t &X, const commandVec_t &U)
Definition: romeosimpleactuator.cpp:79
RomeoSimpleActuator::computeModelDeriv
void computeModelDeriv(double &dt, const stateVec_t &X, const commandVec_t &U)
Definition: romeosimpleactuator.cpp:92
RomeoSimpleActuator::RomeoSimpleActuator
RomeoSimpleActuator(double &mydt, bool noiseOnParameters=0)
Definition: romeosimpleactuator.cpp:14
DynamicModel< double, 4, 1 >::commandVec_t
Eigen::Matrix< double, commandSize, 1 > commandVec_t
Definition: dynamicmodel.hh:16
DynamicModel< double, 4, 1 >::commandR_stateC_t
Eigen::Matrix< double, commandSize, stateSize > commandR_stateC_t
Definition: dynamicmodel.hh:27
DynamicModel< double, 4, 1 >::stateMat_t
Eigen::Matrix< double, stateSize, stateSize > stateMat_t
Definition: dynamicmodel.hh:12
RomeoSimpleActuator::computeTensorContux
commandR_stateC_t computeTensorContux(const stateVec_t &nextVx)
Definition: romeosimpleactuator.cpp:110
RomeoSimpleActuator::~RomeoSimpleActuator
virtual ~RomeoSimpleActuator()
Definition: romeosimpleactuator.hh:10
DynamicModel< double, 4, 1 >::commandMat_t
Eigen::Matrix< double, commandSize, commandSize > commandMat_t
Definition: dynamicmodel.hh:18
RomeoSimpleActuator
Definition: romeosimpleactuator.hh:6
DynamicModel< double, 4, 1 >::stateVec_t
Eigen::Matrix< double, stateSize, 1 > stateVec_t
Definition: dynamicmodel.hh:10
dynamicmodel.hh
DynamicModel< double, 4, 1 >::stateR_commandC_t
Eigen::Matrix< double, stateSize, commandSize > stateR_commandC_t
Definition: dynamicmodel.hh:24