romeosimpleactuator.hh

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#ifndef ROMEOSIMPLEACTUATOR_H
#define ROMEOSIMPLEACTUATOR_H
 
#include <ddp-actuator-solver/dynamicmodel.hh>
 
class RomeoSimpleActuator : public DynamicModel<double, 4, 1> {
 public:
  RomeoSimpleActuator(double& mydt, bool noiseOnParameters = 0);
  virtual ~RomeoSimpleActuator() {};
 
 private:
 protected:
  // attributes //
 public:
 private:
  double dt;
 
 private:
  double k;
  double R;
  double Jm;
  double Jl;
  double fvm;
  double fvl;
  double Kt;
  double mu;
  double Cf0;
  double a;
 
 private:
  stateVec_t Xreal;
  stateMat_t Id;
  stateMat_t A;
  stateMat_t Ad;
  stateR_commandC_t B;
  stateR_commandC_t Bd;
  double A13atan;
  double A33atan;
  stateMat_t fxBase;
  stateR_commandC_t fuBase;
 
  stateMat_t QxxCont;
  commandMat_t QuuCont;
  commandR_stateC_t QuxCont;
 
 protected:
  // methods //
 public:
  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  // ROMEOSIMPLEACTUATOR_H