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modelLinear.hh
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1#ifndef MODEL_H
2#define MODEL_H
3
5
6class ModelLinear : public DynamicModel<double, 2, 1> {
7 public:
8 ModelLinear(double& mydt, bool noiseOnParameters = 0);
9 virtual ~ModelLinear(){};
10
11 private:
12 protected:
13 // attributes //
14 public:
15 private:
16 double dt;
17 double l;
18 double M;
19 double m;
20 double g;
21
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,
35 const commandVec_t& U);
36 stateVec_t computeNextState(double& dt, const stateVec_t& X,
37 const commandVec_t& U);
38 void computeModelDeriv(double& dt, const stateVec_t& X,
39 const commandVec_t& U);
43
44 private:
45 protected:
46 // accessors //
47 public:
48};
49
50#endif // MODEL_H
Definition dynamicmodel.hh:7
Eigen::Matrix< double, stateSize, 1 > stateVec_t
Definition dynamicmodel.hh:9
Eigen::Matrix< double, stateSize, stateSize > stateMat_t
Definition dynamicmodel.hh:13
Eigen::Matrix< double, commandSize, 1 > commandVec_t
Definition dynamicmodel.hh:19
Eigen::Matrix< double, commandSize, stateSize > commandR_stateC_t
Definition dynamicmodel.hh:37
Eigen::Matrix< double, commandSize, commandSize > commandMat_t
Definition dynamicmodel.hh:23
Definition modelLinear.hh:6
commandMat_t computeTensorContuu(const stateVec_t &nextVx)
Definition modelLinear.cpp:99
stateVec_t computeNextState(double &dt, const stateVec_t &X, const commandVec_t &U)
Definition modelLinear.cpp:54
virtual ~ModelLinear()
Definition modelLinear.hh:9
stateVec_t computeDeriv(double &dt, const stateVec_t &X, const commandVec_t &U)
Definition modelLinear.cpp:47
commandR_stateC_t computeTensorContux(const stateVec_t &nextVx)
Definition modelLinear.cpp:103
stateMat_t computeTensorContxx(const stateVec_t &nextVx)
Definition modelLinear.cpp:95
void computeModelDeriv(double &dt, const stateVec_t &X, const commandVec_t &U)
Definition modelLinear.cpp:66