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pyreneActuator.hh
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1#ifndef PYRENEACTUATOR_H
2#define PYRENEACTUATOR_H
3
5
6class pyreneActuator : public DynamicModel<double, 2, 1> {
7 public:
9 void setLoadParam(const double& mass, const double& coordX,
10 const double& coordY);
11 void setLoadMass(const double& mass);
12 void removeLoad();
13 stateVec_t computeStateDeriv(double&, const stateVec_t& X,
14 const commandVec_t& U);
15 stateVec_t computeNextState(double& dt, const stateVec_t& X,
16 const commandVec_t& U);
17 void computeModelDeriv(double& dt, const stateVec_t& X,
18 const commandVec_t& U);
22
23 static const double J_j;
24 static const double K;
25 static const double F_vj;
26 static const double F_sj;
27 static const double J_m;
28 static const double F_vm;
29 static const double F_sm;
30 static const double offset_m;
31 static const double offset_j;
32 static const double M;
33 static const double c_x;
34 static const double c_y;
35 static const double mu;
36 static const double g;
37
38 private:
39 double J;
40 double F_v;
41 double F_s;
42 double L; // load
43 double l_x;
44 double l_y;
45
46 stateMat_t QxxCont;
47 commandMat_t QuuCont;
48 commandR_stateC_t QuxCont;
49};
50
51#endif // PYRENEACTUATOR_H
Definition dynamicmodel.hh:7
Eigen::Matrix< double, stateSize, 1 > stateVec_t
Definition dynamicmodel.hh:9
double dt
Definition dynamicmodel.hh:58
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 pyreneActuator.hh:6
stateVec_t computeNextState(double &dt, const stateVec_t &X, const commandVec_t &U)
Definition pyreneActuator.cpp:85
static const double M
Definition pyreneActuator.hh:32
void setLoadMass(const double &mass)
Definition pyreneActuator.cpp:66
pyreneActuator()
Definition pyreneActuator.cpp:29
commandMat_t computeTensorContuu(const stateVec_t &nextVx)
Definition pyreneActuator.cpp:117
static const double F_sm
Definition pyreneActuator.hh:29
static const double c_y
Definition pyreneActuator.hh:34
static const double g
Definition pyreneActuator.hh:36
static const double c_x
Definition pyreneActuator.hh:33
static const double offset_j
Definition pyreneActuator.hh:31
static const double F_vm
Definition pyreneActuator.hh:28
static const double J_j
Definition pyreneActuator.hh:23
void computeModelDeriv(double &dt, const stateVec_t &X, const commandVec_t &U)
Definition pyreneActuator.cpp:96
static const double K
Definition pyreneActuator.hh:24
static const double J_m
Definition pyreneActuator.hh:27
commandR_stateC_t computeTensorContux(const stateVec_t &nextVx)
Definition pyreneActuator.cpp:122
void removeLoad()
Definition pyreneActuator.cpp:71
static const double F_sj
Definition pyreneActuator.hh:26
stateMat_t computeTensorContxx(const stateVec_t &nextVx)
Definition pyreneActuator.cpp:112
void setLoadParam(const double &mass, const double &coordX, const double &coordY)
Definition pyreneActuator.cpp:59
static const double mu
Definition pyreneActuator.hh:35
static const double offset_m
Definition pyreneActuator.hh:30
static const double F_vj
Definition pyreneActuator.hh:25
stateVec_t computeStateDeriv(double &, const stateVec_t &X, const commandVec_t &U)
Definition pyreneActuator.cpp:73