modelLinear.hh

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#ifndef MODEL_H
#define MODEL_H
 
#include <ddp-actuator-solver/dynamicmodel.hh>
 
class ModelLinear : public DynamicModel<double, 2, 1> {
 public:
  ModelLinear(double& mydt, bool noiseOnParameters = 0);
  virtual ~ModelLinear() {};
 
 private:
 protected:
  // attributes //
 public:
 private:
  double dt;
  double l;
  double M;
  double m;
  double g;
 
 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  // MODEL_H