rsv_balance_gazebo_control: control.h Source File

Go to the documentation of this file.
00001 /*********************************************************************
00002  *  Copyright (c) 2015 Robosavvy Ltd.
00003  *  Author: Vitor Matos
00004  *
00005  *********************************************************************/
00006 
00007 #ifndef RSV_BALANCE_GAZEBO_CONTROL_CONTROL_H
00008 #define RSV_BALANCE_GAZEBO_CONTROL_CONTROL_H
00009 
00010 extern const float g_fWheelRadius;
00011 extern const float g_fBaseWidth;    // Half of Base width
00012 extern const float g_fI3;           // I3, horizontal inertia
00013 
00014 // System matrices
00015 extern const float A[4][4];          // A matrix
00016 extern const float B[4][2];          // B matrix
00017 extern const float C[4][4];          // C matrix
00018 extern const float L[4][4];          // L matrix
00019 extern const float K[2][4];          // K matrix
00020 extern const float A_BK[4][4];       // A-BK matrix
00021 
00022 #endif  // RSV_BALANCE_GAZEBO_CONTROL_CONTROL_H