ActuatorDCNonLinearMotorModel< Scalar_ > Class Template Reference

Template implementing a non linear DC motor model. More...

#include <actuators/dc-non-linear-motor-model.hpp>

Inheritance diagram for ActuatorDCNonLinearMotorModel< Scalar_ >:

Collaboration diagram for ActuatorDCNonLinearMotorModel< Scalar_ >:

Public Member Functions
void	calc (typename ActuatorDCNonLinearMotorData< Scalar_ >::dX_t &dstate, typename ActuatorDCNonLinearMotorData< Scalar_ >::X_t &state, typename ActuatorDCNonLinearMotorData< Scalar_ >::U_t &control, Force &fext, ActuatorDCNonLinearMotorData< Scalar_ > &data)
void	get_force (ActuatorDCNonLinearMotorData< Scalar_ > &data, Force &aForce) const
ActuatorDCNonLinearMotorData< Scalar_ >	createData () const

Protected Attributes
std::string	name_

Detailed Description

template<typename Scalar_>
class se3::ActuatorDCNonLinearMotorModel< Scalar_ >

Template implementing a non linear DC motor model.

Template Parameters

Scalar_

{description}

Definition at line 232 of file dc-non-linear-motor-model.hpp.

Member Function Documentation

void calc ( typename ActuatorDCNonLinearMotorData< Scalar_ >::dX_t &  dstate, typename ActuatorDCNonLinearMotorData< Scalar_ >::X_t &  state, typename ActuatorDCNonLinearMotorData< Scalar_ >::U_t &  control, Force &  fext, ActuatorDCNonLinearMotorData< Scalar_ > &  data  )

inline

di/dt = (-Ri + V - K_b dtheta/dt)/L

Definition at line 240 of file dc-non-linear-motor-model.hpp.

References ForceBase< Derived >::angular(), ActuatorDCNonLinearMotorData< Scalar_ >::c(), ActuatorDCNonLinearMotorData< Scalar_ >::h(), ForceBase< Derived >::linear(), ActuatorDCNonLinearMotorData< Scalar_ >::S(), and ForceBase< Derived >::toVector().

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The documentation for this class was generated from the following file:

• dc-non-linear-motor-model.hpp