MotorHeatParam.h
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00001 // -*- C++ -*-
00010 #ifndef MOTOR_HEAT_PARAM_H
00011 #define MOTOR_HEAT_PARAM_H
00012 
00013 
00014 // </rtc-template>
00015 class MotorHeatParam
00016 {
00017  public:
00018   // Tnew = T + (P - ((T - Ta) / R) * dt) / C
00019   //      = T + ((Re*K^2/C) * tau^2) + ((1/RC) * (T - Ta) * dt)
00020   // * P = Re * I^2 = Re * (K * tau)^2
00021   
00022   double temperature; // current temperature
00023   double currentCoeffs; // Re*K^2/C
00024   double thermoCoeffs; // 1/RC
00025 
00026   MotorHeatParam(){
00027     defaultParams();
00028   }
00029   
00030   // default params for motor heat param
00031   void defaultParams(){
00032     temperature = 30.0;
00033     currentCoeffs = 0.00003;
00034     thermoCoeffs = 0.001;
00035   } 
00036 
00037 };
00038 
00039 #endif // MOTOR_HEAT_PARAM_H


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Wed Sep 6 2017 02:35:55