inverted-pendulum.hh

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/*
 * Copyright 2010,
 * Florent Lamiraux
 *
 * CNRS
 *
 */

#ifndef DG_TUTORIAL_INVERTED_PENDULUM_HH
#define DG_TUTORIAL_INVERTED_PENDULUM_HH

#include <dynamic-graph/entity.h>
#include <dynamic-graph/linear-algebra.h>
#include <dynamic-graph/signal-ptr.h>

namespace dynamicgraph {
namespace tutorial {

class InvertedPendulum : public Entity {
 public:
  InvertedPendulum(const std::string& inName);

  ~InvertedPendulum();

  virtual const std::string& getClassName(void) const { return CLASS_NAME; }

  virtual std::string getDocString() const {
    return "Classical inverted pendulum dynamic model\n";
  }

  void incr(double inTimeStep);

  void setCartMass(const double& inMass) { cartMass_ = inMass; }

  double getCartMass() const { return cartMass_; }

  void setPendulumMass(const double& inMass) { pendulumMass_ = inMass; }

  double getPendulumMass() const { return pendulumMass_; }

  void setPendulumLength(const double& inLength) { pendulumLength_ = inLength; }

  double getPendulumLength() const { return pendulumLength_; }

 public:
  /*
    \brief Class name
  */
  static const std::string CLASS_NAME;

 private:
  SignalPtr<double, int> forceSIN;
  Signal< ::dynamicgraph::Vector, int> stateSOUT;

  double cartMass_;
  double pendulumMass_;
  double pendulumLength_;
  double viscosity_;

  ::dynamicgraph::Vector computeDynamics(const ::dynamicgraph::Vector& inState,
                                         const double& inControl,
                                         double inTimeStep);
};
}  // namespace tutorial
}  // namespace dynamicgraph
#endif