modelLinear.hh
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1 #ifndef MODEL_H
2 #define MODEL_H
3 
5 
6 class ModelLinear : public DynamicModel<double, 2, 1>
7 {
8 public:
9  ModelLinear(double& mydt, bool noiseOnParameters = 0);
10  virtual ~ModelLinear() {};
11 private:
12 protected:
13 
14  // attributes //
15 public:
16 private:
17  double dt;
18  double l;
19  double M;
20  double m;
21  double g;
22 private:
23  stateVec_t Xreal, dX;
24  stateVec_t x_next, k1, k2, k3, k4;
25  stateMat_t Id;
26 
27  stateMat_t QxxCont;
28  commandMat_t QuuCont;
29  commandR_stateC_t QuxCont;
30 
31 protected:
32  // methods //
33 public:
34  stateVec_t computeDeriv(double& dt, const stateVec_t& X, const commandVec_t &U);
35  stateVec_t computeNextState(double& dt, const stateVec_t& X,
36  const commandVec_t &U);
37  void computeModelDeriv(double& dt, const stateVec_t& X, const commandVec_t &U);
41 private:
42 protected:
43  // accessors //
44 public:
45 
46 };
47 
48 #endif // MODEL_H
ModelLinear::computeTensorContux
commandR_stateC_t computeTensorContux(const stateVec_t &nextVx)
Definition: modelLinear.cpp:95
DynamicModel
Definition: dynamicmodel.hh:7
ModelLinear
Definition: modelLinear.hh:6
ModelLinear::computeTensorContuu
commandMat_t computeTensorContuu(const stateVec_t &nextVx)
Definition: modelLinear.cpp:93
ModelLinear::computeNextState
stateVec_t computeNextState(double &dt, const stateVec_t &X, const commandVec_t &U)
Definition: modelLinear.cpp:53
ModelLinear::computeDeriv
stateVec_t computeDeriv(double &dt, const stateVec_t &X, const commandVec_t &U)
Definition: modelLinear.cpp:47
ModelLinear::~ModelLinear
virtual ~ModelLinear()
Definition: modelLinear.hh:10
DynamicModel< double, 2, 1 >::commandVec_t
Eigen::Matrix< double, commandSize, 1 > commandVec_t
Definition: dynamicmodel.hh:16
DynamicModel< double, 2, 1 >::commandR_stateC_t
Eigen::Matrix< double, commandSize, stateSize > commandR_stateC_t
Definition: dynamicmodel.hh:27
DynamicModel< double, 2, 1 >::stateMat_t
Eigen::Matrix< double, stateSize, stateSize > stateMat_t
Definition: dynamicmodel.hh:12
DynamicModel< double, 2, 1 >::commandMat_t
Eigen::Matrix< double, commandSize, commandSize > commandMat_t
Definition: dynamicmodel.hh:18
ModelLinear::computeTensorContxx
stateMat_t computeTensorContxx(const stateVec_t &nextVx)
Definition: modelLinear.cpp:91
DynamicModel< double, 2, 1 >::stateVec_t
Eigen::Matrix< double, stateSize, 1 > stateVec_t
Definition: dynamicmodel.hh:10
ModelLinear::ModelLinear
ModelLinear(double &mydt, bool noiseOnParameters=0)
Definition: modelLinear.cpp:16
dynamicmodel.hh
ModelLinear::computeModelDeriv
void computeModelDeriv(double &dt, const stateVec_t &X, const commandVec_t &U)
Definition: modelLinear.cpp:63