TwoDofControllerDynamicsModel.h

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// -*- C++ -*-
#ifndef TWO_DOF_CONTROLLER_DYNAMICS_MODEL_H
#define TWO_DOF_CONTROLLER_DYNAMICS_MODEL_H

// </rtc-template>

#include "../Stabilizer/TwoDofController.h"
#include "Convolution.h"
#include <vector>

class TwoDofControllerDynamicsModel : public TwoDofControllerInterface {
public:
  class TwoDofControllerDynamicsModelParam {
  public:
    TwoDofControllerDynamicsModelParam() {
      alpha = beta = ki = tc = dt = 0.0; // set default param
    }
    ~TwoDofControllerDynamicsModelParam() {
    }
    static int getControllerParamNum() {
      return 4;
    }
    double alpha; // completing squared param (s + alpha)^2 - beta^2
    double beta; // completing square param (s + alpha)^2 - beta^2
    double ki; // virtual inertia
    double tc; // time constant
    double dt; // control cycle (not controller but system parameter)
  };
  TwoDofControllerDynamicsModel();
  TwoDofControllerDynamicsModel(TwoDofControllerDynamicsModelParam &_param, unsigned int _range = 0);
  ~TwoDofControllerDynamicsModel();
  void setup();
  void setup(TwoDofControllerDynamicsModelParam &_param, unsigned int _range = 0);
  void reset();
  double update(double _x, double _xd);
  bool getParameter();
  bool getParameter(TwoDofControllerDynamicsModelParam &_p);

private:
  TwoDofControllerDynamicsModelParam param;
  double current_time;
  Integrator integrate_exp_sinh_current;
  std::vector<double> exp_sinh;
  std::vector<Convolution> convolutions;
};

#endif // TWO_DOF_CONTROLLER_DYNAMICS_MODEL_H