TwoInertiaSimulator.hh

[詳解]

 
//
// Copyright (C) 2011-2023 Yokokura, Yuki
// MIT License. For details, see the LICENSE file.
 
#ifndef TWOINERTIASIMULATOR
#define TWOINERTIASIMULATOR
 
#include "Matrix.hh"
#include "StateSpaceSystem.hh"
#include "Integrator.hh"
 
namespace ARCS {    // ARCS名前空間
class TwoInertiaSimulator {
    public:
        TwoInertiaSimulator(void);  
        TwoInertiaSimulator(const struct TwoInertiaParamDef& Params, const double SmplTime);
        TwoInertiaSimulator(const struct TwoInertiaParams& Params, const double SmplTime);  
        TwoInertiaSimulator(TwoInertiaSimulator&& r);   
        ~TwoInertiaSimulator();                         
        void SetParameters(const struct TwoInertiaParamDef& Params, const double SmplTime); 
        void SetParameters(const struct TwoInertiaParams& Params, const double SmplTime);   
        void SetCurrentAndLoadTorque(const double Current, const double LoadTorque);        
        void GetResponses(double& LoadSpeed, double& TorsionAngle, double& MotorSpeed);     
        std::tuple<double,double,double> GetResponses(void);                                
        double GetLoadPosition(void);       
        double GetMotorPosition(void);      
        double GetMotorSpeed(void);         
        double GetTorsionTorque(void);      
        void GetResponses(
            const double Current, const double LoadTorque, double& LoadSpeed, double& TorsionAngle, double& MotorSpeed
        );  
        std::tuple<double,double,double> GetResponses(double Current, double LoadTorque);   
        void SetLoadInertia(double Inertia);
        void SetSpring(double Stiffness);   
        void Reset(void);                   
        
    private:
        TwoInertiaSimulator(const TwoInertiaSimulator&) = delete;                   
        const TwoInertiaSimulator& operator=(const TwoInertiaSimulator&) = delete;  
        
        double Jl;  
        double Dl;  
        double Ds;  
        double Ks;  
        double Jm;  
        double Dm;  
        double Rg;  
        double Kt;  
        double Ts;  
        double thl; 
        double thm; 
        StateSpaceSystem<3,2,3> PlantSys;   
        Integrator<> MotorInteg;            
        Integrator<> LoadInteg;             
        
        void SetStateSpaceModel(void);      
};
}
 
#endif