MotorSimulators.hh

 
//
// Copyright (C) 2011-2020 Yokokura, Yuki
// This program is free software;
// you can redistribute it and/or modify it under the terms of the FreeBSD License.
// For details, see the License.txt file.
 
#ifndef MOTORSIMULATORS
#define MOTORSIMULATORS
 
#include <cassert>
#include <array>
#include "Matrix.hh"
#include "MotorParamDef.hh"
#include "MotorSimulator.hh"
 
// ARCS組込み用マクロ
#ifdef ARCS_IN
    // ARCSに組み込まれる場合
    #include "ARCSassert.hh"
    #include "ARCSeventlog.hh"
#else
    // ARCSに組み込まれない場合
    #define arcs_assert(a) (assert(a))
    #define PassedLog()
    #define EventLog(a)
    #define EventLogVar(a)
#endif
 
namespace ARCS {    // ARCS名前空間
template <size_t N>
class MotorSimulators {
    public:
        MotorSimulators(const std::array<struct MotorParamDef, N>& Params, const double SmplTime)
            : PlantSyss()
        {
            PassedLog();
            // 各軸数分のモータシミュレータのパラメータ設定
            for(size_t i = 0; i < N; ++i){
                PlantSyss.at(i).SetParameters(Params.at(i).Kt, Params.at(i).Jm, Params.at(i).Dm, SmplTime);
            }
        }
 
        MotorSimulators(MotorSimulators&& r)
            : PlantSyss(std::move(r.PlantSyss))
        {
            
        }
 
        ~MotorSimulators(){
            PassedLog();
        }
        
        void SetCurrentAndLoadTorque(const std::array<double, N> Current, const std::array<double, N> LoadTorque){
            // 各軸の電流と負荷トルクを設定
            for(size_t i = 0; i < N; ++i){
                PlantSyss.at(i).SetCurrentAndLoadTorque(Current.at(i), LoadTorque.at(i));
            }
        }
        
        void GetVelocityAndPosition(std::array<double, N>& Velocity, std::array<double, N>& Position){
            // 各軸の応答計算
            for(size_t i = 0; i < N; ++i){
                PlantSyss.at(i).GetVelocityAndPosition(Velocity.at(i), Position.at(i));
            }
        }
        
        
    private:
        MotorSimulators(const MotorSimulators&) = delete;                   
        const MotorSimulators& operator=(const MotorSimulators&) = delete;  
        
        std::array<MotorSimulator, N> PlantSyss;    
};
}
 
#endif