lib/AccObsrv.hh
00001 // 蜉�騾溷ｺｦ繧ｪ繝悶じ繝ｼ繝舌け繝ｩ繧ｹ 00002 // 2011/02/16 Yuki YOKOKURA 00003 // 00004 // 蜉�騾溷ｺｦ繧ｪ繝悶じ繝ｼ繝� 00005 // 蜉�騾溷ｺｦ蜿ら�ｧ蛟､縺ｨ螟紋ｹｱ繧ｪ繝悶じ繝ｼ繝舌↓繧医ｋ謗ｨ螳壼､紋ｹｱ縺九ｉ蜉�騾溷ｺｦ蠢懃ｭ泌�､繧定ｨ育ｮ励☆繧� 00006 // 00007 // Copyright (C) 2011 Yuki YOKOKURA 00008 // This program is free software; 00009 // you can redistribute it and/or modify it under the terms of the GNU General Public License 00010 // as published by the Free Software Foundation; either version 3 of the License, or any later version. 00011 // This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; 00012 // without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. 00013 // See the GNU General Public License for more details <http://www.gnu.org/licenses/>. 00014 // Besides, you can negotiate about other options of licenses instead of GPL. 00015 // If you would like to get other licenses, please contact us<yuki@katsura.sd.keio.ac.jp>. 00016 00017 #ifndef ACCOBSRV 00018 #define ACCOBSRV 00019 00020 namespace ARCS { // ARCS蜷榊燕遨ｺ髢� 00021 class AccObsrv { 00022 private: 00023 double gacc; // [rad/s] 蜉�騾溷ｺｦ繧ｪ繝悶じ繝ｼ繝舌�ｮ蟶ｯ蝓� 00024 double gdis; // [rad/s] 螟紋ｹｱ繧ｪ繝悶じ繝ｼ繝舌�ｮ蟶ｯ蝓� 00025 double Mn; // [kg] or [kgm^2] 諷｣諤ｧ 00026 double Ts; // [s] 蛻ｶ蠕｡蜻ｨ譛� 00027 double XDDrefZ1;// 迥ｶ諷句､画焚1 00028 double FdisZ1; // 迥ｶ諷句､画焚2 00029 double XDDresZ1;// 迥ｶ諷句､画焚3 00030 00031 public: 00032 AccObsrv(double AccBandwidth, double DistBandwidth, double Mass, double SmplTime); 00033 // 繧ｳ繝ｳ繧ｹ繝医Λ繧ｯ繧ｿ 00034 // gdis�ｼ媼rad/s] 蟶ｯ蝓滂ｼ勲ass�ｼ媼kg] or [kgm^2] 諷｣諤ｧ 00035 // TrqConst�ｼ媼N/A] or [Nm/A] 繝医Ν繧ｯ螳壽焚�ｼ郡mplTime�ｼ媼s] 蛻ｶ蠕｡蜻ｨ譛� 00036 ~AccObsrv(); // 繝�繧ｹ繝医Λ繧ｯ繧ｿ 00037 double GetAcceleration(double XDDref, double Fdis); // 蜉�騾溷ｺｦ蠢懃ｭ斐�ｮ蜿門ｾ� XDDref�ｼ媼m/s^2] 蜉�騾溷ｺｦ蜿ら�ｧ蛟､�ｼ熊dis�ｼ媼N] 謗ｨ螳壼､紋ｹｱ 00038 void SetAccBandwidth(double Bandwidth); // 蜉�騾溷ｺｦ繧ｪ繝悶じ繝ｼ繝舌�ｮ蟶ｯ蝓溘�ｮ蜀崎ｨｭ螳� Bandwidth�ｼ媼rad/s] 蟶ｯ蝓� 00039 void SetDistBandwidth(double Bandwidth); // 螟紋ｹｱ繧ｪ繝悶じ繝ｼ繝舌�ｮ蟶ｯ蝓溘�ｮ蜀崎ｨｭ螳� Bandwidth�ｼ媼rad/s] 蟶ｯ蝓� 00040 void SetInertia(double Mass); // 諷｣諤ｧ縺ｮ蜀崎ｨｭ螳� Mass�ｼ媼kg] or [kgm^2] 諷｣諤ｧ 00041 void SetSmplTime(double SmplTime); // 蛻ｶ蠕｡蜻ｨ譛溘�ｮ蜀崎ｨｭ螳� SmplTime�ｼ媼s] 蛻ｶ蠕｡蜻ｨ譛� 00042 void ClearStateVars(void); // 縺吶∋縺ｦ縺ｮ迥ｶ諷句､画焚縺ｮ繝ｪ繧ｻ繝�繝� 00043 }; 00044 } 00045 00046 #endif 00047 00048 00049
