ARCS::TwoInertiaSimulator クラス

#include <TwoInertiaSimulator.hh>

ARCS::TwoInertiaSimulator 連携図

公開メンバ関数
	TwoInertiaSimulator (double TrqConst, double MotorInert, double LoadInert, double Spring, double MotorFric, double LoadFric, double GearRatio, double SmplTime)
	~TwoInertiaSimulator ()
void	SetMotorInertia (double inertia)
void	SetSpring (double stiffness)
void	GetVelocity (double current, double loadtorque, double &motorspeed, double &loadspeed)
void	ResetStateVector (void)

非公開メンバ関数
	TwoInertiaSimulator (const TwoInertiaSimulator &)
const TwoInertiaSimulator &	operator= (const TwoInertiaSimulator &)

非公開変数類
double	Kt
double	Jm
double	Jl
double	Ks
double	Dm
double	Dl
double	Rg
double	Ts
Matrix	Ac
Matrix	Bc
Matrix	Ad
Matrix	Bd
Matrix	C
Matrix	u
Matrix	x
Matrix	x_next
Matrix	y

構築子と解体子

TwoInertiaSimulator() [1/2]

TwoInertiaSimulator::TwoInertiaSimulator	(	double	TrqConst,
		double	MotorInert,
		double	LoadInert,
		double	Spring,
		double	MotorFric,
		double	LoadFric,
		double	GearRatio,
		double	SmplTime
	)

呼び出し関係図:

~TwoInertiaSimulator()

TwoInertiaSimulator::~TwoInertiaSimulator

(

)

TwoInertiaSimulator() [2/2]

ARCS::TwoInertiaSimulator::TwoInertiaSimulator ( const TwoInertiaSimulator &  )

private

関数詳解

GetVelocity()

void TwoInertiaSimulator::GetVelocity	(	double	current,
		double	loadtorque,
		double &	motorspeed,
		double &	loadspeed
	)

呼び出し関係図:

operator=()

const TwoInertiaSimulator& ARCS::TwoInertiaSimulator::operator= ( const TwoInertiaSimulator &  )

private

ResetStateVector()

void TwoInertiaSimulator::ResetStateVector

(

void

)

呼び出し関係図:

SetMotorInertia()

void TwoInertiaSimulator::SetMotorInertia

(

double

inertia

)

SetSpring()

void TwoInertiaSimulator::SetSpring

(

double

stiffness

)

メンバ詳解

Ac

Matrix ARCS::TwoInertiaSimulator::Ac

private

Ad

Matrix ARCS::TwoInertiaSimulator::Ad

private

Bc

Matrix ARCS::TwoInertiaSimulator::Bc

private

Bd

Matrix ARCS::TwoInertiaSimulator::Bd

private

C

Matrix ARCS::TwoInertiaSimulator::C

private

Dl

double ARCS::TwoInertiaSimulator::Dl

private

Dm

double ARCS::TwoInertiaSimulator::Dm

private

Jl

double ARCS::TwoInertiaSimulator::Jl

private

Jm

double ARCS::TwoInertiaSimulator::Jm

private

Ks

double ARCS::TwoInertiaSimulator::Ks

private

Kt

double ARCS::TwoInertiaSimulator::Kt

private

Rg

double ARCS::TwoInertiaSimulator::Rg

private

Ts

double ARCS::TwoInertiaSimulator::Ts

private

u

Matrix ARCS::TwoInertiaSimulator::u

private

x

Matrix ARCS::TwoInertiaSimulator::x

private

x_next

Matrix ARCS::TwoInertiaSimulator::x_next

private

y

Matrix ARCS::TwoInertiaSimulator::y

private

---

このクラス詳解は次のファイルから抽出されました:

• //biprobot/expsrc/ARCS5.1-REV.51SF170515/lib/TwoInertiaSimulator.hh
• //biprobot/expsrc/ARCS5.1-REV.51SF170515/lib/TwoInertiaSimulator.cc