romeotorqueactuator.hh
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1 #ifndef ROMEOTORQUEACTUATOR_H
2 #define ROMEOTORQUEACTUATOR_H
3 
5 
6 class RomeoTorqueActuator : public DynamicModel<double, 4, 1> {
7  public:
8  RomeoTorqueActuator(double& mydt);
9 
10  private:
11  protected:
12  // attributes //
13  public:
14  private:
15  double dt;
16 
17  public:
18  /*static const double k;
19  static const double R;
20  static const double Jm;
21  static const double Jl;
22  static const double fvm;
23  static const double Cf0;
24  static const double a;*/
25 
26  static const double k;
27  static const double R;
28  static const double Jm;
29  static const double Jl;
30  static const double fvm;
31  static const double fvl;
32  static const double Kt;
33  static const double mu;
34  static const double Cf0;
35  static const double a;
36 
37  private:
38  stateVec_t Xreal;
39  stateMat_t Id;
40  stateMat_t A;
41  stateMat_t Ad;
44  double A13atan;
45  double A33atan;
46  stateMat_t fxBase;
47  stateR_commandC_t fuBase;
48 
49  stateMat_t QxxCont;
50  commandMat_t QuuCont;
51  commandR_stateC_t QuxCont;
52 
53  protected:
54  // methods //
55  public:
56  stateVec_t computeNextState(double& dt, const stateVec_t& X, const commandVec_t& U);
57  void computeModelDeriv(double& dt, const stateVec_t& X, const commandVec_t& U);
61 
62  private:
63  protected:
64  // accessors //
65  public:
66 };
67 
68 #endif // ROMEOSIMPLEACTUATOR_H
RomeoTorqueActuator
Definition: romeotorqueactuator.hh:6
RomeoTorqueActuator::Cf0
static const double Cf0
Definition: romeotorqueactuator.hh:34
DynamicModel
Definition: dynamicmodel.hh:7
RomeoTorqueActuator::mu
static const double mu
Definition: romeotorqueactuator.hh:33
RomeoTorqueActuator::Jl
static const double Jl
Definition: romeotorqueactuator.hh:29
DynamicModel< double, 4, 1 >::stateR_commandC_t
Eigen::Matrix< double, stateSize, commandSize > stateR_commandC_t
Definition: dynamicmodel.hh:22
RomeoTorqueActuator::Jm
static const double Jm
Definition: romeotorqueactuator.hh:28
RomeoTorqueActuator::computeNextState
stateVec_t computeNextState(double &dt, const stateVec_t &X, const commandVec_t &U)
Definition: romeotorqueactuator.cpp:57
DynamicModel< double, 4, 1 >::stateMat_t
Eigen::Matrix< double, stateSize, stateSize > stateMat_t
Definition: dynamicmodel.hh:11
DynamicModel< double, 4, 1 >::stateVec_t
Eigen::Matrix< double, stateSize, 1 > stateVec_t
Definition: dynamicmodel.hh:9
DynamicModel< double, 4, 1 >::commandR_stateC_t
Eigen::Matrix< double, commandSize, stateSize > commandR_stateC_t
Definition: dynamicmodel.hh:27
RomeoTorqueActuator::RomeoTorqueActuator
RomeoTorqueActuator(double &mydt)
Definition: romeotorqueactuator.cpp:24
RomeoTorqueActuator::computeTensorContux
commandR_stateC_t computeTensorContux(const stateVec_t &nextVx)
Definition: romeotorqueactuator.cpp:87
RomeoTorqueActuator::fvm
static const double fvm
Definition: romeotorqueactuator.hh:30
RomeoTorqueActuator::computeModelDeriv
void computeModelDeriv(double &dt, const stateVec_t &X, const commandVec_t &U)
Definition: romeotorqueactuator.cpp:69
RomeoTorqueActuator::Kt
static const double Kt
Definition: romeotorqueactuator.hh:32
RomeoTorqueActuator::a
static const double a
Definition: romeotorqueactuator.hh:35
RomeoTorqueActuator::computeTensorContuu
commandMat_t computeTensorContuu(const stateVec_t &nextVx)
Definition: romeotorqueactuator.cpp:85
RomeoTorqueActuator::k
static const double k
Definition: romeotorqueactuator.hh:26
RomeoTorqueActuator::fvl
static const double fvl
Definition: romeotorqueactuator.hh:31
DynamicModel< double, 4, 1 >::commandVec_t
Eigen::Matrix< double, commandSize, 1 > commandVec_t
Definition: dynamicmodel.hh:15
DynamicModel< double, 4, 1 >::commandMat_t
Eigen::Matrix< double, commandSize, commandSize > commandMat_t
Definition: dynamicmodel.hh:17
RomeoTorqueActuator::R
static const double R
Definition: romeotorqueactuator.hh:27
dynamicmodel.hh
RomeoTorqueActuator::computeTensorContxx
stateMat_t computeTensorContxx(const stateVec_t &nextVx)
Definition: romeotorqueactuator.cpp:83