modelIP.hh
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1 #ifndef MODEL_H
2 #define MODEL_H
3 
5 
6 class ModelIP : public DynamicModel<double,5,1>
7 {
8  public:
9  ModelIP(double& mydt,bool noiseOnParameters=0);
10  virtual ~ModelIP() {};
11  private:
12  protected:
13 
14  // attributes //
15  public:
16  private:
17  double dt;
18  private:
19  double J;
20  double K_M;
21  double f_VL;
22  double R_th;
23  double tau_th;
24  private:
25  stateVec_t Xreal,dX;
26  stateVec_t x_next,k1,k2,k3,k4;
27  stateMat_t Id;
28 
29  stateMat_t QxxCont;
30  commandMat_t QuuCont;
31  commandR_stateC_t QuxCont;
32 
33  protected:
34  // methods //
35  public:
36  stateVec_t computeDeriv(double& dt, const stateVec_t& X, const commandVec_t &U);
37  stateVec_t computeNextState(double& dt, const stateVec_t& X, const commandVec_t &U);
38  void computeModelDeriv(double& dt, const stateVec_t& X, const commandVec_t &U);
42  private:
43  protected:
44  // accessors //
45  public:
46 
47 };
48 
49 #endif // MODEL_H
DynamicModel
Definition: dynamicmodel.hh:7
ModelIP
Definition: modelIP.hh:6
ModelIP::ModelIP
ModelIP(double &mydt, bool noiseOnParameters=0)
Definition: modelIP.cpp:17
ModelIP::computeTensorContxx
stateMat_t computeTensorContxx(const stateVec_t &nextVx)
Definition: modelIP.cpp:95
DynamicModel< double, 5, 1 >::commandVec_t
Eigen::Matrix< double, commandSize, 1 > commandVec_t
Definition: dynamicmodel.hh:16
DynamicModel< double, 5, 1 >::commandR_stateC_t
Eigen::Matrix< double, commandSize, stateSize > commandR_stateC_t
Definition: dynamicmodel.hh:27
DynamicModel< double, 5, 1 >::stateMat_t
Eigen::Matrix< double, stateSize, stateSize > stateMat_t
Definition: dynamicmodel.hh:12
ModelIP::computeNextState
stateVec_t computeNextState(double &dt, const stateVec_t &X, const commandVec_t &U)
Definition: modelIP.cpp:72
DynamicModel< double, 5, 1 >::commandMat_t
Eigen::Matrix< double, commandSize, commandSize > commandMat_t
Definition: dynamicmodel.hh:18
ModelIP::computeTensorContuu
commandMat_t computeTensorContuu(const stateVec_t &nextVx)
Definition: modelIP.cpp:97
ModelIP::~ModelIP
virtual ~ModelIP()
Definition: modelIP.hh:10
ModelIP::computeTensorContux
commandR_stateC_t computeTensorContux(const stateVec_t &nextVx)
Definition: modelIP.cpp:99
ModelIP::computeDeriv
stateVec_t computeDeriv(double &dt, const stateVec_t &X, const commandVec_t &U)
Definition: modelIP.cpp:62
DynamicModel< double, 5, 1 >::stateVec_t
Eigen::Matrix< double, stateSize, 1 > stateVec_t
Definition: dynamicmodel.hh:10
dynamicmodel.hh
ModelIP::computeModelDeriv
void computeModelDeriv(double &dt, const stateVec_t &X, const commandVec_t &U)
Definition: modelIP.cpp:81