MotorHeatParam.h
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1 // -*- C++ -*-
10 #ifndef MOTOR_HEAT_PARAM_H
11 #define MOTOR_HEAT_PARAM_H
12 
13 
14 // </rtc-template>
16 {
17  public:
18  // Tnew = T + (P - ((T - Ta) / R) * dt) / C
19  // = T + ((Re*K^2/C) * tau^2) + ((1/RC) * (T - Ta) * dt)
20  // * P = Re * I^2 = Re * (K * tau)^2
21 
22  double temperature; // current temperature
23  double currentCoeffs; // Re*K^2/C
24  double thermoCoeffs; // 1/RC
25 
27  defaultParams();
28  }
29 
30  // default params for motor heat param
31  void defaultParams(){
32  temperature = 30.0;
33  currentCoeffs = 0.00003;
34  thermoCoeffs = 0.001;
35  }
36 
37 };
38 
39 #endif // MOTOR_HEAT_PARAM_H
double currentCoeffs
void defaultParams()


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Sat Dec 17 2022 03:52:20