dctemp.hh

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#ifndef DCTEMP_H
#define DCTEMP_H
 
#include <ddp-actuator-solver/dynamicmodel.hh>
 
class DCTemp : public DynamicModel<double, 5, 1> {
 public:
  DCTemp(bool noiseOnParameters = 0);
  virtual ~DCTemp() {};
 
 private:
 protected:
  // attributes //
 public:
 private:
  double dt_;
 
 private:
  double J_;
  double K_M_;
  double f_VL_;
  double R_th_;
  double tau_th_;
 
 private:
  stateVec_t Xreal_, dX_;
  stateVec_t x_next_, k1_, k2_, k3_, k4_;
  stateMat_t Id_;
 
  stateMat_t QxxCont_;
  commandMat_t QuuCont_;
  commandR_stateC_t QuxCont_;
 
 protected:
  // methods //
 public:
  stateVec_t computeDeriv(double& dt, 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);
 
 private:
 protected:
  // accessors //
 public:
};
 
#endif  // DCTEMP_H