pyreneActuator.hh
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1 #ifndef PYRENEACTUATOR_H
2 #define PYRENEACTUATOR_H
3 
5 
6 class pyreneActuator : public DynamicModel<double,2,1>
7 {
8 public:
10  void setLoadParam(const double& mass, const double& coordX, const double& coordY);
11  void setLoadMass(const double& mass);
12  void removeLoad();
13  stateVec_t computeStateDeriv(double&, const stateVec_t& X, const commandVec_t &U);
14  stateVec_t computeNextState(double& dt, const stateVec_t& X, const commandVec_t &U);
15  void computeModelDeriv(double& dt, const stateVec_t& X, const commandVec_t &U);
19 
20  static const double J_j;
21  static const double K;
22  static const double F_vj;
23  static const double F_sj;
24  static const double J_m;
25  static const double F_vm;
26  static const double F_sm;
27  static const double offset_m;
28  static const double offset_j;
29  static const double M;
30  static const double c_x;
31  static const double c_y;
32  static const double mu;
33  static const double g;
34 
35 private:
36  double J;
37  double F_v;
38  double F_s;
39  double L; //load
40  double l_x;
41  double l_y;
42 
43  stateMat_t QxxCont;
44  commandMat_t QuuCont;
45  commandR_stateC_t QuxCont;
46 
47 };
48 
49 #endif // PYRENEACTUATOR_H
pyreneActuator::computeTensorContxx
stateMat_t computeTensorContxx(const stateVec_t &nextVx)
Definition: pyreneActuator.cpp:104
pyreneActuator::J_m
static const double J_m
Definition: pyreneActuator.hh:24
DynamicModel
Definition: dynamicmodel.hh:7
pyreneActuator::removeLoad
void removeLoad()
Definition: pyreneActuator.cpp:68
pyreneActuator::c_y
static const double c_y
Definition: pyreneActuator.hh:31
pyreneActuator::c_x
static const double c_x
Definition: pyreneActuator.hh:30
pyreneActuator::mu
static const double mu
Definition: pyreneActuator.hh:32
pyreneActuator::F_sm
static const double F_sm
Definition: pyreneActuator.hh:26
pyreneActuator::K
static const double K
Definition: pyreneActuator.hh:21
pyreneActuator::computeStateDeriv
stateVec_t computeStateDeriv(double &, const stateVec_t &X, const commandVec_t &U)
Definition: pyreneActuator.cpp:70
pyreneActuator::pyreneActuator
pyreneActuator()
Definition: pyreneActuator.cpp:27
pyreneActuator::setLoadMass
void setLoadMass(const double &mass)
Definition: pyreneActuator.cpp:63
pyreneActuator::g
static const double g
Definition: pyreneActuator.hh:33
pyreneActuator::M
static const double M
Definition: pyreneActuator.hh:29
DynamicModel< double, 2, 1 >::dt
double dt
Definition: dynamicmodel.hh:40
DynamicModel< double, 2, 1 >::commandVec_t
Eigen::Matrix< double, commandSize, 1 > commandVec_t
Definition: dynamicmodel.hh:16
pyreneActuator::offset_m
static const double offset_m
Definition: pyreneActuator.hh:27
DynamicModel< double, 2, 1 >::commandR_stateC_t
Eigen::Matrix< double, commandSize, stateSize > commandR_stateC_t
Definition: dynamicmodel.hh:27
pyreneActuator::offset_j
static const double offset_j
Definition: pyreneActuator.hh:28
pyreneActuator::computeNextState
stateVec_t computeNextState(double &dt, const stateVec_t &X, const commandVec_t &U)
Definition: pyreneActuator.cpp:80
pyreneActuator::setLoadParam
void setLoadParam(const double &mass, const double &coordX, const double &coordY)
Definition: pyreneActuator.cpp:57
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
pyreneActuator::computeTensorContuu
commandMat_t computeTensorContuu(const stateVec_t &nextVx)
Definition: pyreneActuator.cpp:106
pyreneActuator::F_vm
static const double F_vm
Definition: pyreneActuator.hh:25
pyreneActuator
Definition: pyreneActuator.hh:6
pyreneActuator::F_vj
static const double F_vj
Definition: pyreneActuator.hh:22
DynamicModel< double, 2, 1 >::stateVec_t
Eigen::Matrix< double, stateSize, 1 > stateVec_t
Definition: dynamicmodel.hh:10
pyreneActuator::computeTensorContux
commandR_stateC_t computeTensorContux(const stateVec_t &nextVx)
Definition: pyreneActuator.cpp:108
pyreneActuator::F_sj
static const double F_sj
Definition: pyreneActuator.hh:23
pyreneActuator::J_j
static const double J_j
Definition: pyreneActuator.hh:20
dynamicmodel.hh
pyreneActuator::computeModelDeriv
void computeModelDeriv(double &dt, const stateVec_t &X, const commandVec_t &U)
Definition: pyreneActuator.cpp:90