lib/DistObsrv.hh

// 螟紋ｹｱ繧ｪ繝悶じ繝ｼ繝舌け繝ｩ繧ｹ
// 2011/02/18 Yuki YOKOKURA
//
// 1谺｡蠖｢ 螟紋ｹｱ繧ｪ繝悶じ繝ｼ繝�
//
// Copyright (C) 2011 Yuki YOKOKURA
// This program is free software;
// you can redistribute it and/or modify it under the terms of the GNU General Public License
// as published by the Free Software Foundation; either version 3 of the License, or any later version.
// This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY;
// without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
// See the GNU General Public License for more details <http://www.gnu.org/licenses/>.
// Besides, you can negotiate about other options of licenses instead of GPL.
// If you would like to get other licenses, please contact us<yuki@katsura.sd.keio.ac.jp>.

#ifndef DISTOBSRV
#define DISTOBSRV

namespace ARCS {        // ARCS蜷榊燕遨ｺ髢�
        class DistObsrv {
                private:
                        double gdis;    // [rad/s]                      蟶ｯ蝓�
                        double Mn;              // [kg] or [kgm^2]      諷｣諤ｧ
                        double Kfn;             // [N/A] or [Nm/A]      謗ｨ蜉� or 繝医Ν繧ｯ螳壽焚
                        double Ts;              // [s]                          蛻ｶ蠕｡蜻ｨ譛�
                        double Bp;              //                                      迥ｶ諷句､画焚1
                        double C;               //                                      迥ｶ諷句､画焚2
                
                public:
                        DistObsrv(double Bandwidth, double Mass, double TrqConst, double SmplTime);
                        // 繧ｳ繝ｳ繧ｹ繝医Λ繧ｯ繧ｿ
                        // Bandwidth�ｼ媼rad/s] 蟶ｯ蝓滂ｼ勲ass�ｼ媼kg] or [kgm^2] 諷｣諤ｧ
                        // 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�
                        ~DistObsrv();                                                           // 繝�繧ｹ繝医Λ繧ｯ繧ｿ
                        double GetForce(double Iref, double XDres);     // 謗ｨ螳壼､紋ｹｱ縺ｮ蜿門ｾ� Iref�ｼ媼A] 髮ｻ豬∝盾辣ｧ蛟､�ｼ傾Dres�ｼ媼m/s] or [rad/s] 騾溷ｺｦ蠢懃ｭ泌�､
                        void SetBandwidth(double Bandwidth);            // 蟶ｯ蝓溘�ｮ蜀崎ｨｭ螳� gdis�ｼ媼rad/s] 蟶ｯ蝓�
                        void SetInertia(double Mass);                           // 諷｣諤ｧ縺ｮ蜀崎ｨｭ螳� Mass�ｼ媼kg] or [kgm^2] 諷｣諤ｧ
                        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
                        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�
                        void ClearStateVars(void);                                      // 縺吶∋縺ｦ縺ｮ迥ｶ諷句､画焚縺ｮ繝ｪ繧ｻ繝�繝�
        };
}

#endif