lib/ActuatorSim.hh
00001 // 繧｢繧ｯ繝√Η繧ｨ繝ｼ繧ｿ繧ｷ繝溘Η繝ｬ繝ｼ繧ｿ繧ｯ繝ｩ繧ｹ 00002 // 2011/02/16 Yuki YOKOKURA 00003 // 00004 // 繧｢繧ｯ繝√Η繧ｨ繝ｼ繧ｿ繧呈ｨ｡謫ｬ縺吶ｋ繧ｷ繝溘Η繝ｬ繝ｼ繧ｿ 00005 // 髮ｻ豬∝盾辣ｧ蛟､縺ｨ雋�闕ｷ螟門鴨縺九ｉ菴咲ｽｮ蠢懃ｭ斐ｒ險育ｮ励☆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 ACTUATORSIM 00018 #define ACTUATORSIM 00019 00020 namespace ARCS { // ARCS蜷榊燕遨ｺ髢� 00021 class ActuatorSim { 00022 private: 00023 double M; // [kg] or [kgm^2] 諷｣諤ｧ 00024 double Kf; // [N/A] or [Nm/A] 謗ｨ蜉� or 繝医Ν繧ｯ螳壽焚 00025 double Ts; // [s] 蛻ｶ蠕｡蜻ｨ譛� 00026 double uZ1; // 迥ｶ諷句､画焚1 00027 double uZ2; // 迥ｶ諷句､画焚2 00028 double yZ1; // 迥ｶ諷句､画焚3 00029 double yZ2; // 迥ｶ諷句､画焚4 00030 00031 public: 00032 ActuatorSim(double Mass, double TrqConst, double SmplTime); 00033 // 繧ｳ繝ｳ繧ｹ繝医Λ繧ｯ繧ｿ 00034 // Mass�ｼ媼kg] or [kgm^2] 諷｣諤ｧ�ｼ卦rqConst�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� 00035 ~ActuatorSim(); // 繝�繧ｹ繝医Λ繧ｯ繧ｿ 00036 double GetPosition(double Iref, double Fload); // 菴咲ｽｮ蠢懃ｭ斐�ｮ蜿門ｾ� Iref�ｼ媼A] 髮ｻ豬∝盾辣ｧ蛟､�ｼ熊load�ｼ媼N] or [Nm] 雋�闕ｷ螟門鴨 00037 void SetInertia(double Mass); // 諷｣諤ｧ縺ｮ蜀崎ｨｭ螳� Mass�ｼ媼kg] or [kgm^2] 諷｣諤ｧ 00038 void SetTrqConst(double TrqConst); // 謗ｨ蜉� or 繝医Ν繧ｯ螳壽焚縺ｮ蜀崎ｨｭ螳� TrqConst�ｼ媼N/A] or [Nm/A] 謗ｨ蜉� or 繝医Ν繧ｯ螳壽焚 00039 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� 00040 void ClearStateVars(void); // 縺吶∋縺ｦ縺ｮ迥ｶ諷句､画焚縺ｮ繝ｪ繧ｻ繝�繝� 00041 }; 00042 } 00043 00044 #endif 00045 00046 00047
