pendulum_dynamics_solver.h

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// Copyright (c) 2019, Traiko Dinev
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#ifndef EXOTICA_PENDULUM_DYNAMICS_SOLVER_PENDULUM_DYNAMICS_SOLVER_H_
#define EXOTICA_PENDULUM_DYNAMICS_SOLVER_PENDULUM_DYNAMICS_SOLVER_H_

#include <exotica_core/dynamics_solver.h>
#include <exotica_core/scene.h>

#include <exotica_pendulum_dynamics_solver/pendulum_dynamics_solver_initializer.h>

namespace exotica
{
class PendulumDynamicsSolver : public DynamicsSolver, public Instantiable<PendulumDynamicsSolverInitializer>
{
public:
    PendulumDynamicsSolver();
    void AssignScene(ScenePtr scene_in) override;

    StateVector f(const StateVector& x, const ControlVector& u) override;

    Eigen::MatrixXd fx(const StateVector& x, const ControlVector& u) override;
    Eigen::MatrixXd fu(const StateVector& x, const ControlVector& u) override;

private:
    double g_ = 9.81;  
    double m_ = 1.0;   
    double l_ = 1.0;   
    double b_ = 0.0;   
};
}  // namespace exotica

#endif  // EXOTICA_PENDULUM_DYNAMICS_SOLVER_PENDULUM_DYNAMICS_SOLVER_H_