InvertedPendulumWithActuatorCodeGen.cpp File Reference

#include <ct/rbd/rbd.h>
#include <cmath>
#include <memory>
#include <ct/models/InvertedPendulum/InvertedPendulum.h>
#include <ct/rbd/systems/FixBaseFDSystem.h>
#include <ct/models/CodegenOutputDirs.h>

Typedefs
using	Scalar = ct::core::ADCodegenLinearizer< state_dim_full, njoints >::ADCGScalar
using	SEADynamicsFirstOrderAD = ct::rbd::SEADynamicsFirstOrder< njoints, Scalar >
using	InvertedPendulumDynamicsAD = ct::rbd::InvertedPendulum::tpl::Dynamics< Scalar >
using	InvertedPendulumSystemAD = ct::rbd::FixBaseFDSystem< InvertedPendulumDynamicsAD, actuator_state_dim, false >
template<typename SCALAR >
using	control_vector_t = typename ct::rbd::InvertedPendulum::tpl::Dynamics< SCALAR >::control_vector_t
template<typename SCALAR >
using	ExtLinkForces_t = typename ct::rbd::InvertedPendulum::tpl::Dynamics< SCALAR >::ExtLinkForces_t

Functions
int	main (int argc, char **argv)

Variables
const double	K_SPRING = 180.9
const double	R_GEAR = 50.0
	uniform spring constant More...
const size_t	njoints = ct::rbd::InvertedPendulum::Kinematics::NJOINTS
	constant gear ratio More...
const size_t	actuator_state_dim = 1
const size_t	state_dim_full = 2 * njoints + actuator_state_dim

Typedef Documentation

Scalar

using Scalar = ct::core::ADCodegenLinearizer<state_dim_full, njoints>::ADCGScalar

SEADynamicsFirstOrderAD

using SEADynamicsFirstOrderAD = ct::rbd::SEADynamicsFirstOrder<njoints, Scalar>

InvertedPendulumDynamicsAD

using InvertedPendulumDynamicsAD = ct::rbd::InvertedPendulum::tpl::Dynamics<Scalar>

InvertedPendulumSystemAD

using InvertedPendulumSystemAD = ct::rbd::FixBaseFDSystem<InvertedPendulumDynamicsAD, actuator_state_dim, false>

control_vector_t

template<typename SCALAR >

using control_vector_t = typename ct::rbd::InvertedPendulum::tpl::Dynamics<SCALAR>::control_vector_t

ExtLinkForces_t

template<typename SCALAR >

using ExtLinkForces_t = typename ct::rbd::InvertedPendulum::tpl::Dynamics<SCALAR>::ExtLinkForces_t

Function Documentation

main()

int main	(	int	argc,
		char **	argv
	)

References K_SPRING, and R_GEAR.

Variable Documentation

K_SPRING

const double K_SPRING = 180.9

In this file, derivative code including the actuator dynamics is generated.

Referenced by main().

R_GEAR

const double R_GEAR = 50.0

uniform spring constant

Referenced by main().

njoints

const size_t njoints = ct::rbd::InvertedPendulum::Kinematics::NJOINTS

constant gear ratio

actuator_state_dim

const size_t actuator_state_dim = 1

state_dim_full

const size_t state_dim_full = 2 * njoints + actuator_state_dim