second_order_plant.h
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1 #include "ros/ros.h"
2 
3 // Header for 'plant_msg.msg'
4 #include "lyap_control/plant_msg.h"
5 
6 // Header for controller_msg.msg
7 #include "lyap_control/controller_msg.h"
8 
10 // User-defined variables -- Make changes here.
12 
13 static const int num_states=2;
14 static const int num_inputs=2;
15 
16 // Initial conditions
17 static const double x_IC [num_states] = {0.1, -0.2};
18 static const double t_IC = 0.0;
19 static const double setpoint [num_states] = {1.0, -2.0};
20 
21 double delta_t = 0.001; // control period in seconds
22 
23 // Global so it can be passed from the callback fxn to main
24 static double u[num_inputs] = {0.0, 0.0};
25 
26 
28 // Functions
30 
31 void chatterCallback(const lyap_control::controller_msg& u_msg);
double delta_t
static const double t_IC
void chatterCallback(const lyap_control::controller_msg &u_msg)
static const double setpoint[num_states]
static const int num_inputs
static const int num_states
lyap_control::controller_msg u_msg
static const double x_IC[num_states]
static double u[num_inputs]


lyap_control
Author(s): Andy Zelenak
autogenerated on Mon Jun 10 2019 13:50:32