66 f <<
next(xB) == ( 0.9335*xB + 0.0252*xW + 0.048860*vB + 0.000677*vW + 3.324e-06*F );
67 f <<
next(xW) == ( 0.1764*xB - 0.9821*xW + 0.004739*vB - 0.002591*vW - 8.822e-06*F );
68 f <<
next(vB) == ( -2.5210*xB - 0.1867*xW + 0.933500*vB + 0.025200*vW + 0.0001261*F );
69 f <<
next(vW) == ( -1.3070*xB + 11.670*xW + 0.176400*vB - 0.982100*vW + 6.536e-05*F );
80 DVector mean( 1 ), amplitude( 1 );
127 window.
addSubplot( xW,
"Wheel Position [m]" );
128 window.
addSubplot( vB,
"Body Velocity [m/s]" );
129 window.
addSubplot( vW,
"Wheel Velocity [m/s]" );
returnValue setActuator(const Actuator &_actuator)
Allows to setup and evaluate output functions based on SymbolicExpressions.
Stores a DifferentialEquation together with an OutputFcn.
#define USING_NAMESPACE_ACADO
Provides a time grid consisting of vector-valued optimization variables at each grid point...
Allows to simulate the behaviour of sensors within the Process.
returnValue addSubplot(PlotWindowSubplot &_subplot)
returnValue initializeStartValues(const DVector &_xStart, const DVector &_xaStart=emptyConstVector)
Allows to setup and evaluate discretized differential equations based on SymbolicExpressions.
returnValue set(OptionsName name, int value)
DVector getFirstVector() const
returnValue setOutputNoise(const Noise &_noise, double _noiseSamplingTime)
Derived & setZero(Index size)
virtual returnValue run(const VariablesGrid &_u, const VariablesGrid &_p=emptyVariablesGrid)
Generates pseudo-random Gaussian noise for simulating the Process.
void setAll(const T &_value)
Expression next(const Expression &arg)
Simulates the process to be controlled based on a dynamic model.
returnValue setControlNoise(const Noise &_noise, double _noiseSamplingTime)
Allows to simulate the behaviour of actuators within the Process.
Provides an interface to Gnuplot for plotting algorithmic outputs.
returnValue setDynamicSystem(const DynamicSystem &_dynamicSystem, IntegratorType _integratorType=INT_UNKNOWN)
returnValue setOutputDeadTimes(const DVector &_deadTimes)
returnValue setSensor(const Sensor &_sensor)
virtual returnValue init(double _startTime=0.0, const DVector &_xStart=emptyConstVector, const DVector &_uStart=emptyConstVector, const DVector &_pStart=emptyConstVector)
returnValue setControlDeadTimes(const DVector &_deadTimes)