#include <SecondOrderActuatorDynamics.h>

Inheritance diagram for ct::rbd::SecondOrderActuatorDynamics< NJOINTS, SCALAR >:

Public Member Functions
	SecondOrderActuatorDynamics (double w_n, double zeta)
	constructor assuming unit amplification More...

	SecondOrderActuatorDynamics (double w_n, double zeta, double g_dc)
	constructor assuming custom amplification, set g_dc = w_n*w_n More...

	SecondOrderActuatorDynamics (std::vector< double > w_n, std::vector< double > zeta)
	constructor assuming unit amplification More...

	SecondOrderActuatorDynamics (std::vector< double > w_n, std::vector< double > zeta, std::vector< double > g_dc)
	constructor assuming custom amplification, set g_dc = w_n*w_n More...

virtual	~SecondOrderActuatorDynamics ()
	destructor More...

virtual SecondOrderActuatorDynamics< NJOINTS, SCALAR > *	clone () const override
	deep cloning More...

virtual void	computeActuatorDynamics (const JointState< NJOINTS, SCALAR > &robotJointState, const ct::core::StateVector< 2 NJOINTS, SCALAR > &state, const SCALAR &t, const ct::core::ControlVector< NJOINTS, SCALAR > &control, ct::core::StateVector< 2 NJOINTS, SCALAR > &derivative) override

virtual core::ControlVector< NJOINTS, SCALAR >	computeControlOutput (const JointState< NJOINTS, SCALAR > &robotJointState, const typename BASE::act_state_vector_t &actState) override

virtual ct::core::StateVector< 2 *NJOINTS, SCALAR >	computeStateFromOutput (const JointState< NJOINTS, SCALAR > &refRobotJointState, const core::ControlVector< NJOINTS, SCALAR > &refControl) override
	reconstruct actuator state from a desired control output and robot joint state (e.g. for initialization) More...

Public Member Functions inherited from ct::rbd::ActuatorDynamics< 2 *NJOINTS, NJOINTS, SCALAR >
	ActuatorDynamics ()

virtual	~ActuatorDynamics ()

virtual void	computeActuatorDynamics (const JointState< NJOINTS, SCALAR > &robotJointState, const ct::core::StateVector< ACT_STATE_DIMS, SCALAR > &actuatorState, const SCALAR &t, const ct::core::ControlVector< NJOINTS, SCALAR > &control, ct::core::StateVector< ACT_STATE_DIMS, SCALAR > &derivative)=0

virtual core::ControlVector< NJOINTS, SCALAR >	computeControlOutput (const JointState< NJOINTS, SCALAR > &robotJointState, const act_state_vector_t &actState)=0
	output equation of the actuator More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ActuatorDynamics< 2 *NJOINTS, NJOINTS, SCALAR >	BASE

Additional Inherited Members
Public Types inherited from ct::rbd::ActuatorDynamics< 2 *NJOINTS, NJOINTS, SCALAR >
typedef ct::core::StateVector< ACT_STATE_DIMS, SCALAR >	act_state_vector_t

typedef ct::core::ControlVector< NJOINTS, SCALAR >	act_control_vector_t

Static Public Attributes inherited from ct::rbd::ActuatorDynamics< 2 *NJOINTS, NJOINTS, SCALAR >
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW const size_t	ACT_STATE_DIM

static const size_t	ACT_CONTROL_DIM

Detailed Description

template<size_t NJOINTS, typename SCALAR = double>
class ct::rbd::SecondOrderActuatorDynamics< NJOINTS, SCALAR >

Actuator Dynamics modeled as second order system, an oscillator with damping.

Warning: This is wrong - actually the simple oscillator is not a symplectic system (if damping != 0)

Constructor & Destructor Documentation

◆ SecondOrderActuatorDynamics() [1/4]

template<size_t NJOINTS, typename SCALAR >

ct::rbd::SecondOrderActuatorDynamics< NJOINTS, SCALAR >::SecondOrderActuatorDynamics	(	double	w_n,
		double	zeta
	)

constructor assuming unit amplification

Referenced by ct::rbd::SecondOrderActuatorDynamics< NJOINTS, SCALAR >::clone().

◆ SecondOrderActuatorDynamics() [2/4]

template<size_t NJOINTS, typename SCALAR >

ct::rbd::SecondOrderActuatorDynamics< NJOINTS, SCALAR >::SecondOrderActuatorDynamics	(	double	w_n,
		double	zeta,
		double	g_dc
	)

constructor assuming custom amplification, set g_dc = w_n*w_n

◆ SecondOrderActuatorDynamics() [3/4]

template<size_t NJOINTS, typename SCALAR >

ct::rbd::SecondOrderActuatorDynamics< NJOINTS, SCALAR >::SecondOrderActuatorDynamics	(	std::vector< double >	w_n,
		std::vector< double >	zeta
	)

constructor assuming unit amplification

References i.

◆ SecondOrderActuatorDynamics() [4/4]

template<size_t NJOINTS, typename SCALAR >

ct::rbd::SecondOrderActuatorDynamics< NJOINTS, SCALAR >::SecondOrderActuatorDynamics	(	std::vector< double >	w_n,
		std::vector< double >	zeta,
		std::vector< double >	g_dc
	)

constructor assuming custom amplification, set g_dc = w_n*w_n

References i.

◆ ~SecondOrderActuatorDynamics()

template<size_t NJOINTS, typename SCALAR >

ct::rbd::SecondOrderActuatorDynamics< NJOINTS, SCALAR >::~SecondOrderActuatorDynamics ( )

virtual

destructor

Member Function Documentation

◆ clone()

template<size_t NJOINTS, typename SCALAR >

SecondOrderActuatorDynamics< NJOINTS, SCALAR > * ct::rbd::SecondOrderActuatorDynamics< NJOINTS, SCALAR >::clone ( ) const

overridevirtual

deep cloning

Implements ct::rbd::ActuatorDynamics< 2 *NJOINTS, NJOINTS, SCALAR >.

References ct::rbd::SecondOrderActuatorDynamics< NJOINTS, SCALAR >::SecondOrderActuatorDynamics().

◆ computeActuatorDynamics()

template<size_t NJOINTS, typename SCALAR >

void ct::rbd::SecondOrderActuatorDynamics< NJOINTS, SCALAR >::computeActuatorDynamics	(	const JointState< NJOINTS, SCALAR > &	robotJointState,
		const ct::core::StateVector< 2 *NJOINTS, SCALAR > &	state,
		const SCALAR &	t,
		const ct::core::ControlVector< NJOINTS, SCALAR > &	control,
		ct::core::StateVector< 2 *NJOINTS, SCALAR > &	derivative
	)

overridevirtual

References i.

◆ computeControlOutput()

template<size_t NJOINTS, typename SCALAR >

core::ControlVector< NJOINTS, SCALAR > ct::rbd::SecondOrderActuatorDynamics< NJOINTS, SCALAR >::computeControlOutput	(	const JointState< NJOINTS, SCALAR > &	robotJointState,
		const typename BASE::act_state_vector_t &	actState
	)

overridevirtual

◆ computeStateFromOutput()

template<size_t NJOINTS, typename SCALAR >

ct::core::StateVector< 2 *NJOINTS, SCALAR > ct::rbd::SecondOrderActuatorDynamics< NJOINTS, SCALAR >::computeStateFromOutput	(	const JointState< NJOINTS, SCALAR > &	refRobotJointState,
		const core::ControlVector< NJOINTS, SCALAR > &	refControl
	)

overridevirtual

reconstruct actuator state from a desired control output and robot joint state (e.g. for initialization)

Returns: the actuator state resulting in the desired control output

Implements ct::rbd::ActuatorDynamics< 2 *NJOINTS, NJOINTS, SCALAR >.

References ct::core::ControlVector< CONTROL_DIM, SCALAR >::toImplementation().

Member Data Documentation

◆ BASE

template<size_t NJOINTS, typename SCALAR = double>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ActuatorDynamics<2 * NJOINTS, NJOINTS, SCALAR> ct::rbd::SecondOrderActuatorDynamics< NJOINTS, SCALAR >::BASE

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

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_rbd/include/ct/rbd/robot/actuator/SecondOrderActuatorDynamics.h
/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_rbd/include/ct/rbd/robot/actuator/SecondOrderActuatorDynamics-impl.h

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

template<size_t NJOINTS, typename SCALAR = double> class ct::rbd::SecondOrderActuatorDynamics< NJOINTS, SCALAR >

Constructor & Destructor Documentation

◆ SecondOrderActuatorDynamics() [1/4]

◆ SecondOrderActuatorDynamics() [2/4]

◆ SecondOrderActuatorDynamics() [3/4]

◆ SecondOrderActuatorDynamics() [4/4]

◆ ~SecondOrderActuatorDynamics()

Member Function Documentation

◆ clone()

◆ computeActuatorDynamics()

◆ computeControlOutput()

◆ computeStateFromOutput()

Member Data Documentation

◆ BASE

template<size_t NJOINTS, typename SCALAR = double>
class ct::rbd::SecondOrderActuatorDynamics< NJOINTS, SCALAR >