motor-model.hh

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#ifndef MOTORMODEL_H
#define MOTORMODEL_H
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#if defined(WIN32)
#if defined(force_torque_estimator_EXPORTS)
#define SOTFORCETORQUEESTIMATOR_EXPORT __declspec(dllexport)
#else
#define SOTFORCETORQUEESTIMATOR_EXPORT __declspec(dllimport)
#endif
#else
#define SOTFORCETORQUEESTIMATOR_EXPORT
#endif
namespace dynamicgraph {
namespace sot {
namespace torque_control {
class MotorModel {
 public:
  MotorModel();
  double getCurrent(double torque, double dq, double ddq, double Kt_p,
                    double Kt_n, double Kf_p = 0.0, double Kf_n = 0.0,
                    double Kv_p = 0.0, double Kv_n = 0.0, double Ka_p = 0.0,
                    double Ka_n = 0.0, unsigned int poly = 3);
 
  double getTorque(double current, double dq, double ddq, double Kt_p,
                   double Kt_n, double Kf_p = 0.0, double Kf_n = 0.0,
                   double Kv_p = 0.0, double Kv_n = 0.0, double Ka_p = 0.0,
                   double Ka_n = 0.0, unsigned int poly = 3);
  double smoothSign(double value, double threshold, unsigned int poly = 3);
};
}  // namespace torque_control
}  // namespace sot
}  // namespace dynamicgraph
#endif  // MOTORMODEL_H