LoadsideDistObsrv.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 LOADSIDEDISTOBSRV
#define LOADSIDEDISTOBSRV
 
#include "Matrix.hh"
 
namespace ARCS {    // ARCS名前空間
    class LoadsideDistObsrv {
        public:
            LoadsideDistObsrv(double Stiffness, double LoadInertia, double GearRatio, double Bandwidth, double SmplTime);   
            ~LoadsideDistObsrv();   
            double GetLoadsideTorque(double MotorSpeed, double TorsionTorque);  
            
        private:
            LoadsideDistObsrv(const LoadsideDistObsrv&) = delete;                   // コピーコンストラクタ使用禁止
            const LoadsideDistObsrv& operator=(const LoadsideDistObsrv&) = delete;  // 代入演算子使用禁止
            double Ksn; 
            double Jln; 
            double Rg;  
            double l1;  
            double l2;  
            double l3;  
            double Ts;  
            
            Matrix<3,3> Ac; 
            Matrix<2,3> Bc; 
            Matrix<3,3> Ad; 
            Matrix<2,3> Bd; 
            Matrix<3,1> c;  
            Matrix<1,2> u;  
            Matrix<1,3> x;  
            Matrix<1,3> x_next; 
            Matrix<1,1> y;  
    };
}
 
#endif