Actuators

Collaboration diagram for Actuators:

Modules
	Motor models

Detailed Description

An actuator model is defined by a state vector \( \mathbf{x} \) and an ordinary differential equation \( \dot{\bf{x}}= f(\bf{x}, \bf{u}, \bf{c},\bf{f}_{ext}) \) describing its dynamics for a set of parameters \( \bf{c} \), with control vector \( \bf{u} \) and submitted to external forces \( \bf{f}_{ext} \) by the multi-body rigid dynamics.

The dynamics is given by the method #ActuatorModelBase::ode_func().

The force produced by the actuator is given by #ActuatorModelBase::get_force().

The observations are given by the method #ActuatorModelBase::h().

The parameters are provided by the method #ActuatorModelBase::c().

The state type is given by ActuatorModelBase::X_t, the type of the state derivative is ActuatorModelBase::dX_t, the control type is given by ActuatorModelBase::U_t, the selection matrix type is given by ActuatorModelBase::S_t, the observation type is ActuatorModelBase::h_t, the parameters type is ActuatorModelBase::Parameters_t.

The semantic of each type is specific to each implementation.