67 f <<
dot(vB) == ( -kS*xB + kS*xW + F ) / mB;
68 f <<
dot(vW) == ( kS*xB - (kT+kS)*xW + kT*R - F ) / mW;
79 DVector mean( 1 ), amplitude( 1 );
130 window.
addSubplot( xW,
"Wheel Position [m]" );
131 window.
addSubplot( vB,
"Body Velocity [m/s]" );
132 window.
addSubplot( vW,
"Wheel Velocity [m/s]" );
161 myProcess.
run( u,p );
returnValue setActuator(const Actuator &_actuator)
Allows to setup and evaluate output functions based on SymbolicExpressions.
returnValue setParameterDeadTimes(const DVector &_deadTimes)
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)
returnValue set(OptionsName name, int value)
DVector getFirstVector() const
returnValue setOutputNoise(const Noise &_noise, double _noiseSamplingTime)
Derived & setZero(Index size)
Expression dot(const Expression &arg)
virtual returnValue run(const VariablesGrid &_u, const VariablesGrid &_p=emptyVariablesGrid)
Generates pseudo-random Gaussian noise for simulating the Process.
returnValue setProcessDisturbance(const Curve &_processDisturbance)
void setAll(const T &_value)
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)
Allows to setup and evaluate differential equations (ODEs and DAEs) based on SymbolicExpressions.
virtual returnValue init(double _startTime=0.0, const DVector &_xStart=emptyConstVector, const DVector &_uStart=emptyConstVector, const DVector &_pStart=emptyConstVector)
returnValue setControlDeadTimes(const DVector &_deadTimes)