pyreneActuator Class Reference

#include <ddp-actuator-solver/pyrene_actuator/pyreneActuator.hh>

Inheritance diagram for pyreneActuator:

Collaboration diagram for pyreneActuator:

Public Member Functions
	pyreneActuator ()
void	setLoadParam (const double &mass, const double &coordX, const double &coordY)
void	setLoadMass (const double &mass)
void	removeLoad ()
stateVec_t	computeStateDeriv (double &, const stateVec_t &X, const commandVec_t &U)
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, 2, 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	J_j = 0.5878
static const double	K = 10.6
static const double	F_vj = 0.4757
static const double	F_sj = 0.5403
static const double	J_m = 0.21
static const double	F_vm = 5.6714
static const double	F_sm = 4.0420
static const double	offset_m = 0.5572
static const double	offset_j = -0.3012
static const double	M = 4.5667
static const double	c_x = -0.0981 / M
static const double	c_y = 1.1005 / M
static const double	mu = 1000.0
static const double	g = 9.81

Additional Inherited Members
Public Types inherited from DynamicModel< double, 2, 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, 2, 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

pyreneActuator()

pyreneActuator::pyreneActuator

(

)

Member Function Documentation

computeModelDeriv()

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

computeNextState()

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

computeStateDeriv()

pyreneActuator::stateVec_t pyreneActuator::computeStateDeriv	(	double &	,
		const stateVec_t &	X,
		const commandVec_t &	U
	)

computeTensorContuu()

pyreneActuator::commandMat_t pyreneActuator::computeTensorContuu

(

const stateVec_t &

nextVx

)

computeTensorContux()

pyreneActuator::commandR_stateC_t pyreneActuator::computeTensorContux

(

const stateVec_t &

nextVx

)

computeTensorContxx()

pyreneActuator::stateMat_t pyreneActuator::computeTensorContxx

(

const stateVec_t &

nextVx

)

removeLoad()

void pyreneActuator::removeLoad

(

)

setLoadMass()

void pyreneActuator::setLoadMass

(

const double &

mass

)

setLoadParam()

void pyreneActuator::setLoadParam	(	const double &	mass,
		const double &	coordX,
		const double &	coordY
	)

Member Data Documentation

c_x

const double pyreneActuator::c_x = -0.0981 / M

static

c_y

const double pyreneActuator::c_y = 1.1005 / M

static

F_sj

const double pyreneActuator::F_sj = 0.5403

static

F_sm

const double pyreneActuator::F_sm = 4.0420

static

F_vj

const double pyreneActuator::F_vj = 0.4757

static

F_vm

const double pyreneActuator::F_vm = 5.6714

static

g

const double pyreneActuator::g = 9.81

static

J_j

const double pyreneActuator::J_j = 0.5878

static

J_m

const double pyreneActuator::J_m = 0.21

static

K

const double pyreneActuator::K = 10.6

static

M

const double pyreneActuator::M = 4.5667

static

mu

const double pyreneActuator::mu = 1000.0

static

offset_j

const double pyreneActuator::offset_j = -0.3012

static

offset_m

const double pyreneActuator::offset_m = 0.5572

static

---

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

• include/ddp-actuator-solver/pyrene_actuator/pyreneActuator.hh
• src/pyrene_actuator/pyreneActuator.cpp