romeotorqueactuator.hh

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#ifndef ROMEOTORQUEACTUATOR_H
#define ROMEOTORQUEACTUATOR_H
 
#include <ddp-actuator-solver/dynamicmodel.hh>
 
class RomeoTorqueActuator : public DynamicModel<double, 4, 1> {
 public:
  RomeoTorqueActuator(double& mydt);
 
 private:
 protected:
  // attributes //
 public:
 private:
  double dt;
 
 public:
  /*static const double k;
  static const double R;
  static const double Jm;
  static const double Jl;
  static const double fvm;
  static const double Cf0;
  static const double a;*/
 
  static const double k;
  static const double R;
  static const double Jm;
  static const double Jl;
  static const double fvm;
  static const double fvl;
  static const double Kt;
  static const double mu;
  static const double Cf0;
  static const 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