stateObservation::BidimElasticInvPendulum Class Reference

The class is an implementation of the dynamical system defined by a 2D inverted pendulum with an elastic joint. The input is the horizontal acceleration. More...

#include <state-observation/dynamical-system/bidim-elastic-inv-pendulum-dyn-sys.hpp>

Inheritance diagram for stateObservation::BidimElasticInvPendulum:

Collaboration diagram for stateObservation::BidimElasticInvPendulum:

Public Member Functions
	BidimElasticInvPendulum ()
	The constructor.
virtual	~BidimElasticInvPendulum ()
	The virtual destructor.
virtual Vector	stateDynamics (const Vector &x, const Vector &u, TimeIndex k)
	Description of the state dynamics.
virtual Vector	measureDynamics (const Vector &x, const Vector &u, TimeIndex k)
	Description of the sensor's dynamics.
virtual void	setProcessNoise (NoiseBase *)
	Sets a noise which disturbs the state dynamics.
virtual void	resetProcessNoise ()
	Removes the process noise.
virtual NoiseBase *	getProcessNoise () const
	Gets the process noise.
virtual void	setMeasurementNoise (NoiseBase *)
	Sets a noise which disturbs the measurements.
virtual void	resetMeasurementNoise ()
	Removes the measurement noise.
virtual NoiseBase *	getMeasurementNoise () const
	Gets a pointer on the measurement noise.
virtual void	setSamplingPeriod (double dt)
	Set the period of the time discretization.
virtual Index	getStateSize () const
	Gets the state size.
virtual Index	getInputSize () const
	Gets the input size.
virtual Index	getMeasurementSize () const
	Gets the measurement size.
void	setHeight (const double &h)
	set the height of the com of the pendulum
void	setMass (const double &m)
	set the mass of the pendulum
void	setElasticity (const double &k)
	set the elasticity of the pendulum
Public Member Functions inherited from stateObservation::DynamicalSystemFunctorBase
	DynamicalSystemFunctorBase ()
virtual	~DynamicalSystemFunctorBase ()
virtual void	reset ()
virtual bool	checkStateVector (const Vector &)
	Gives a boolean answer on whether or not the vector is correctly sized to be a state vector.
virtual bool	checkInputvector (const Vector &)
	Gives a boolean answer on whether or not the vector is correctly sized to be an input vector.

Protected Attributes
double	k_
double	m_
double	h_
NoiseBase *	processNoise_
double	dt_

Static Protected Attributes
static const Index	stateSize_ = 4
static const Index	inputSize_ = 1
static const Index	measurementSize_ = 0

Additional Inherited Members
Protected Member Functions inherited from stateObservation::DynamicalSystemFunctorBase
void	assertStateVector_ (const Vector &v)
void	assertInputVector_ (const Vector &v)

Detailed Description

The class is an implementation of the dynamical system defined by a 2D inverted pendulum with an elastic joint. The input is the horizontal acceleration.

Constructor & Destructor Documentation

BidimElasticInvPendulum()

stateObservation::BidimElasticInvPendulum::BidimElasticInvPendulum

(

)

The constructor.

~BidimElasticInvPendulum()

virtual stateObservation::BidimElasticInvPendulum::~BidimElasticInvPendulum ( )

virtual

The virtual destructor.

Member Function Documentation

getInputSize()

virtual Index stateObservation::BidimElasticInvPendulum::getInputSize ( ) const

virtual

Gets the input size.

Implements stateObservation::DynamicalSystemFunctorBase.

getMeasurementNoise()

virtual NoiseBase * stateObservation::BidimElasticInvPendulum::getMeasurementNoise ( ) const

virtual

Gets a pointer on the measurement noise.

getMeasurementSize()

virtual Index stateObservation::BidimElasticInvPendulum::getMeasurementSize ( ) const

virtual

Gets the measurement size.

Implements stateObservation::DynamicalSystemFunctorBase.

getProcessNoise()

virtual NoiseBase * stateObservation::BidimElasticInvPendulum::getProcessNoise ( ) const

virtual

Gets the process noise.

getStateSize()

virtual Index stateObservation::BidimElasticInvPendulum::getStateSize ( ) const

virtual

Gets the state size.

Implements stateObservation::DynamicalSystemFunctorBase.

measureDynamics()

virtual Vector stateObservation::BidimElasticInvPendulum::measureDynamics ( const Vector &  x, const Vector &  u, TimeIndex  k  )

virtual

Description of the sensor's dynamics.

Implements stateObservation::DynamicalSystemFunctorBase.

resetMeasurementNoise()

virtual void stateObservation::BidimElasticInvPendulum::resetMeasurementNoise ( )

virtual

Removes the measurement noise.

resetProcessNoise()

virtual void stateObservation::BidimElasticInvPendulum::resetProcessNoise ( )

virtual

Removes the process noise.

setElasticity()

void stateObservation::BidimElasticInvPendulum::setElasticity

(

const double &

k

)

set the elasticity of the pendulum

setHeight()

void stateObservation::BidimElasticInvPendulum::setHeight

(

const double &

h

)

set the height of the com of the pendulum

setMass()

void stateObservation::BidimElasticInvPendulum::setMass

(

const double &

m

)

set the mass of the pendulum

setMeasurementNoise()

virtual void stateObservation::BidimElasticInvPendulum::setMeasurementNoise ( NoiseBase *  )

virtual

Sets a noise which disturbs the measurements.

setProcessNoise()

virtual void stateObservation::BidimElasticInvPendulum::setProcessNoise ( NoiseBase *  )

virtual

Sets a noise which disturbs the state dynamics.

setSamplingPeriod()

virtual void stateObservation::BidimElasticInvPendulum::setSamplingPeriod ( double  dt )

virtual

Set the period of the time discretization.

stateDynamics()

virtual Vector stateObservation::BidimElasticInvPendulum::stateDynamics ( const Vector &  x, const Vector &  u, TimeIndex  k  )

virtual

Description of the state dynamics.

Implements stateObservation::DynamicalSystemFunctorBase.

Member Data Documentation

dt_

double stateObservation::BidimElasticInvPendulum::dt_

protected

h_

double stateObservation::BidimElasticInvPendulum::h_

protected

inputSize_

const Index stateObservation::BidimElasticInvPendulum::inputSize_ = 1

staticprotected

k_

double stateObservation::BidimElasticInvPendulum::k_

protected

m_

double stateObservation::BidimElasticInvPendulum::m_

protected

measurementSize_

const Index stateObservation::BidimElasticInvPendulum::measurementSize_ = 0

staticprotected

processNoise_

NoiseBase* stateObservation::BidimElasticInvPendulum::processNoise_

protected

stateSize_

const Index stateObservation::BidimElasticInvPendulum::stateSize_ = 4

staticprotected

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The documentation for this class was generated from the following file:

• include/state-observation/dynamical-system/bidim-elastic-inv-pendulum-dyn-sys.hpp