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  public:
8  ModelIP(double& mydt, bool noiseOnParameters = 0);
9  virtual ~ModelIP(){};
10 
11  private:
12  protected:
13  // attributes //
14  public:
15  private:
16  double dt;
17 
18  private:
19  double J;
20  double K_M;
21  double f_VL;
22  double R_th;
23  double tau_th;
24 
25  private:
26  stateVec_t Xreal, dX;
27  stateVec_t x_next, k1, k2, k3, k4;
28  stateMat_t Id;
29 
30  stateMat_t QxxCont;
31  commandMat_t QuuCont;
32  commandR_stateC_t QuxCont;
33 
34  protected:
35  // methods //
36  public:
37  stateVec_t computeDeriv(double& dt, const stateVec_t& X, const commandVec_t& U);
38  stateVec_t computeNextState(double& dt, const stateVec_t& X, const commandVec_t& U);
39  void computeModelDeriv(double& dt, const stateVec_t& X, const commandVec_t& U);
43 
44  private:
45  protected:
46  // accessors //
47  public:
48 };
49 
50 #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
DynamicModel< double, 5, 1 >::stateMat_t
Eigen::Matrix< double, stateSize, stateSize > stateMat_t
Definition: dynamicmodel.hh:11
DynamicModel< double, 5, 1 >::stateVec_t
Eigen::Matrix< double, stateSize, 1 > stateVec_t
Definition: dynamicmodel.hh:9
DynamicModel< double, 5, 1 >::commandR_stateC_t
Eigen::Matrix< double, commandSize, stateSize > commandR_stateC_t
Definition: dynamicmodel.hh:27
ModelIP::computeTensorContxx
stateMat_t computeTensorContxx(const stateVec_t &nextVx)
Definition: modelIP.cpp:95
ModelIP::computeNextState
stateVec_t computeNextState(double &dt, const stateVec_t &X, const commandVec_t &U)
Definition: modelIP.cpp:72
ModelIP::computeTensorContuu
commandMat_t computeTensorContuu(const stateVec_t &nextVx)
Definition: modelIP.cpp:97
ModelIP::~ModelIP
virtual ~ModelIP()
Definition: modelIP.hh:9
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 >::commandVec_t
Eigen::Matrix< double, commandSize, 1 > commandVec_t
Definition: dynamicmodel.hh:15
DynamicModel< double, 5, 1 >::commandMat_t
Eigen::Matrix< double, commandSize, commandSize > commandMat_t
Definition: dynamicmodel.hh:17
dynamicmodel.hh
ModelIP::computeModelDeriv
void computeModelDeriv(double &dt, const stateVec_t &X, const commandVec_t &U)
Definition: modelIP.cpp:81