Advanced Robot Control System  5.1-REV.51SF170515
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 TwoInertiaSimulatoroperator= (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: