RomeoTorqueActuator Class Reference

#include <ddp-actuator-solver/romeo_actuator/romeotorqueactuator.hh>

Inheritance diagram for RomeoTorqueActuator:

Collaboration diagram for RomeoTorqueActuator:

Public Member Functions
	RomeoTorqueActuator (double &mydt)
stateVec_t	computeNextState (double &dt, const stateVec_t &X, const commandVec_t &U)
void	computeModelDeriv (double &dt, const stateVec_t &X, const commandVec_t &U)
stateMat_t	computeTensorContxx (const stateVec_t &nextVx)
commandMat_t	computeTensorContuu (const stateVec_t &nextVx)
commandR_stateC_t	computeTensorContux (const stateVec_t &nextVx)
Public Member Functions inherited from DynamicModel< double, 4, 1 >
virtual stateVec_t	computeNextState (double &dt, const stateVec_t &X, const commandVec_t &U)=0
virtual void	computeModelDeriv (double &dt, const stateVec_t &X, const commandVec_t &U)=0
virtual stateMat_t	computeTensorContxx (const stateVec_t &nextVx)=0
virtual commandMat_t	computeTensorContuu (const stateVec_t &nextVx)=0
virtual commandR_stateC_t	computeTensorContux (const stateVec_t &nextVx)=0
unsigned int	getStateNb ()
unsigned int	getCommandNb ()
commandVec_t &	getLowerCommandBounds ()
commandVec_t &	getUpperCommandBounds ()
stateMat_t &	getfx ()
stateTens_t &	getfxx ()
stateR_commandC_t &	getfu ()
stateR_commandC_commandD_t &	getfuu ()
stateR_stateC_commandD_t &	getfxu ()
stateR_commandC_stateD_t &	getfux ()

Static Public Attributes
static const double	k = 588.0
static const double	R = 96.1
static const double	Jm = 183 * 1e-7
static const double	Jl = 0.000085
static const double	fvm = 5.65e-5
static const double	fvl = 0.278
static const double	Kt = 0.0578
static const double	mu = 0.52
static const double	Cf0 = 0.0
static const double	a = 0.0

Additional Inherited Members
Public Types inherited from DynamicModel< double, 4, 1 >
typedef Eigen::Matrix< double, stateSize, 1 >	stateVec_t
typedef Eigen::Matrix< double, 1, stateSize >	stateVecTrans_t
typedef Eigen::Matrix< double, stateSize, stateSize >	stateMat_t
typedef Eigen::Matrix< double, stateSize, stateSize >	stateTens_t[stateSize]
typedef Eigen::Matrix< double, commandSize, 1 >	commandVec_t
typedef Eigen::Matrix< double, 1, commandSize >	commandVecTrans_t
typedef Eigen::Matrix< double, commandSize, commandSize >	commandMat_t
typedef Eigen::Matrix< double, commandSize, commandSize >	commandTens_t[commandSize]
typedef Eigen::Matrix< double, stateSize, commandSize >	stateR_commandC_t
typedef Eigen::Matrix< double, stateSize, commandSize >	stateR_commandC_stateD_t[stateSize]
typedef Eigen::Matrix< double, stateSize, commandSize >	stateR_commandC_commandD_t[commandSize]
typedef Eigen::Matrix< double, commandSize, stateSize >	commandR_stateC_t
typedef Eigen::Matrix< double, commandSize, stateSize >	commandR_stateC_stateD_t[stateSize]
typedef Eigen::Matrix< double, commandSize, stateSize >	commandR_stateC_commandD_t[commandSize]
typedef Eigen::Matrix< double, stateSize, stateSize >	stateR_stateC_commandD_t[commandSize]
typedef Eigen::Matrix< double, commandSize, commandSize >	commandR_commandC_stateD_t[stateSize]
Protected Attributes inherited from DynamicModel< double, 4, 1 >
unsigned int	stateNb
unsigned int	commandNb
double	dt
commandVec_t	lowerCommandBounds
commandVec_t	upperCommandBounds
stateMat_t	fx
stateTens_t	fxx
stateR_commandC_t	fu
stateR_commandC_commandD_t	fuu
stateR_stateC_commandD_t	fxu
stateR_commandC_stateD_t	fux

Constructor & Destructor Documentation

RomeoTorqueActuator()

RomeoTorqueActuator::RomeoTorqueActuator

(

double &

mydt

)

Member Function Documentation

computeModelDeriv()

void RomeoTorqueActuator::computeModelDeriv	(	double &	dt,
		const stateVec_t &	X,
		const commandVec_t &	U
	)

computeNextState()

RomeoTorqueActuator::stateVec_t RomeoTorqueActuator::computeNextState	(	double &	dt,
		const stateVec_t &	X,
		const commandVec_t &	U
	)

computeTensorContuu()

RomeoTorqueActuator::commandMat_t RomeoTorqueActuator::computeTensorContuu

(

const stateVec_t &

nextVx

)

computeTensorContux()

RomeoTorqueActuator::commandR_stateC_t RomeoTorqueActuator::computeTensorContux

(

const stateVec_t &

nextVx

)

computeTensorContxx()

RomeoTorqueActuator::stateMat_t RomeoTorqueActuator::computeTensorContxx

(

const stateVec_t &

nextVx

)

Member Data Documentation

a

const double RomeoTorqueActuator::a = 0.0

static

Cf0

const double RomeoTorqueActuator::Cf0 = 0.0

static

fvl

const double RomeoTorqueActuator::fvl = 0.278

static

fvm

const double RomeoTorqueActuator::fvm = 5.65e-5

static

Jl

const double RomeoTorqueActuator::Jl = 0.000085

static

Jm

const double RomeoTorqueActuator::Jm = 183 * 1e-7

static

k

const double RomeoTorqueActuator::k = 588.0

static

Kt

const double RomeoTorqueActuator::Kt = 0.0578

static

mu

const double RomeoTorqueActuator::mu = 0.52

static

R

const double RomeoTorqueActuator::R = 96.1

static

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The documentation for this class was generated from the following files:

• include/ddp-actuator-solver/romeo_actuator/romeotorqueactuator.hh
• src/romeo_actuator/romeotorqueactuator.cpp