second_order_plant.h
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00001 #include "ros/ros.h"
00002 
00003 // Header for 'plant_msg.msg'
00004 #include "lyap_control/plant_msg.h"
00005 
00006 // Header for controller_msg.msg
00007 #include "lyap_control/controller_msg.h"
00008 
00010 // User-defined variables -- Make changes here.
00012 
00013 static const int num_states=2;
00014 static const int num_inputs=2;
00015 
00016 // Initial conditions
00017 static const double x_IC [num_states] = {0.1, -0.2};
00018 static const double t_IC = 0.0;
00019 static const double setpoint [num_states] = {1.0, -2.0};
00020 
00021 double delta_t = 0.001; // control period in seconds
00022 
00023 // Global so it can be passed from the callback fxn to main
00024 static double u[num_inputs] = {0.0, 0.0};
00025 
00026 
00028 // Functions
00030 
00031 void chatterCallback(const lyap_control::controller_msg& u_msg);


lyap_control
Author(s): Andy Zelenak
autogenerated on Wed Mar 2 2016 12:14:43