TrqbsdVelocityObsrv.hh

[詳解]

 
//
// Copyright (C) 2011-2018 Yuki YOKOKURA
// 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 TRQBSDVELOCITYOBSRV
#define TRQBSDVELOCITYOBSRV
 
#include "Matrix.hh"
 
namespace ARCS {    // ARCS名前空間
    class TrqbsdVelocityObsrv {
        public:
            TrqbsdVelocityObsrv(
                double TrqConst, double Inertia, double Viscosity, double GearRatio, double Bandwidth, double SmplTime
            );  
            ~TrqbsdVelocityObsrv(); 
            double GetVelocity(double Current, double TorsionTorque, double Position);  
            
        private:
            TrqbsdVelocityObsrv(const TrqbsdVelocityObsrv&) = delete;                   
            const TrqbsdVelocityObsrv& operator=(const TrqbsdVelocityObsrv&) = delete;  
            
            const double Ktn;   
            const double Jmn;   
            const double Dmn;   
            const double Rg;    
            const double w;     
            const double Ts;    
            const double e;     
            const double k1;    
            const double k2;    
            Matrix<1,2> k;      
            Matrix<2,2> Ad;     
            Matrix<2,2> Bd;     
            Matrix<2,1> c;      
            Matrix<1,2> u;      
            Matrix<1,2> xh;     
            Matrix<1,2> xh_next;
            Matrix<1,1> y;      
    };
}
 
#endif