PneumaticTwoChambersData< Scalar_ > Class Template Reference

Template for handling data related to a second order linear DC motor model. More...

#include <actuators/pneumatic-two-chambers.hpp>

Inheritance diagram for PneumaticTwoChambersData< Scalar_ >:

Collaboration diagram for PneumaticTwoChambersData< Scalar_ >:

Public Types
enum	InternalParameters {   P_VALVE_VOLTAGE_ORIGIN,   P_VALVE_VOLTAGE_SCALE,   P_KINK_FACTOR,   P_DS_DDV,   P_DR_DDV,   P_VOLUME_SENSOR_SCALE,   P_B_EQ,   P_RATE_ASSYMMETRY,   P_LEAKAGE,   P_PRESSURE_SENSOR_BIAS,   P_PRESSURE_SENSOR_SCALE,   P_VOLTAGE_RANGE_OF_LEAKY_REGIME }
typedef Scalar_	Scalar_t
typedef Eigen::Matrix< Scalar_, 12, 1 >	Parameters_t
typedef Eigen::Matrix< Scalar_, 3, 1 >	Observations_t
typedef Eigen::Matrix< Scalar_, 6, 1 >	S_t
typedef Eigen::Matrix< Scalar_, 1, 1 >	X_t
typedef Eigen::Matrix< Scalar_, 1, 1 >	dX_t
typedef Eigen::Matrix< Scalar_, 1, 1 >	U_t

Public Member Functions
const Observations_t &	h () const
	Return observation vector.
const Parameters_t &	c () const
	Return parameters.
const S_t &	S () const
	Returns selection matrix.
Observations_t &	h ()
void	valveVoltageOrigin (Scalar_ c)
	Valve-voltage origin. More...
void	valveVoltageScale (Scalar_ c)
	Valve Voltage scale.
void	kinkFactor (Scalar_ c)
	Kink Factor.
void	pDsDdv (Scalar_ c)
void	pDrDdv (Scalar_ c)
void	pBeq (Scalar_ c)
	B eq.
void	pRateAssymmetry (Scalar_ c)
	Rate assymmetry.
void	pLeakage (Scalar_ c)
	Leakage.
void	pPressureSensorBias (Scalar_ c)
	Pressure sensor bias.
void	pPressureSensorScale (Scalar_ c)
	Pressure sensor scale.
void	pVoltageRangeOfLeakyRegime (Scalar_ c)
void	setS (S_t &S)

Protected Attributes
Observations_t	h_
	Observation variables.
Parameters_t	c_
	Vector parameters.
S_t	S_
	Selection matrix.

Detailed Description

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

Template for handling data related to a second order linear DC motor model.

Template Parameters

Scalar_

{description}

Definition at line 42 of file pneumatic-two-chambers.hpp.

Member Function Documentation

void valveVoltageOrigin ( Scalar_  c )

inline

Valve-voltage origin.

Internal parameters of the actuator.

Definition at line 81 of file pneumatic-two-chambers.hpp.

References PneumaticTwoChambersData< Scalar_ >::c(), and PneumaticTwoChambersData< Scalar_ >::c_.

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

• pneumatic-two-chambers.hpp