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13 #ifndef BIDIM_ELASTIC_INV_PENDULUM
14 #define BIDIM_ELASTIC_INV_PENDULUM
16 #include <state-observation/api.h>
46 virtual void setProcessNoise(
NoiseBase *);
48 virtual void resetProcessNoise();
50 virtual NoiseBase * getProcessNoise()
const;
53 virtual void setMeasurementNoise(
NoiseBase *);
55 virtual void resetMeasurementNoise();
57 virtual NoiseBase * getMeasurementNoise()
const;
60 virtual void setSamplingPeriod(
double dt);
63 virtual Index getStateSize()
const;
65 virtual Index getInputSize()
const;
67 virtual Index getMeasurementSize()
const;
70 void setHeight(
const double & h);
72 void setMass(
const double &
m);
74 void setElasticity(
const double & k);
85 static const Index stateSize_ = 4;
86 static const Index inputSize_ = 1;
87 static const Index measurementSize_ = 0;
90 #endif // BIDIM_ELASTIC_INV_PENDULUM
Eigen::VectorXd Vector
Dynamic sized scalar vector.
Definition: definitions.hpp:76
double k_
Definition: bidim-elastic-inv-pendulum-dyn-sys.hpp:77
This is the base class of any functor that describes the dynamics of the state and the measurement....
Definition: dynamical-system-functor-base.hpp:32
double h_
Definition: bidim-elastic-inv-pendulum-dyn-sys.hpp:79
Definition: noise-base.hpp:28
The class is an implementation of the dynamical system defined by a 2D inverted pendulum with an elas...
Definition: bidim-elastic-inv-pendulum-dyn-sys.hpp:30
double m_
Definition: bidim-elastic-inv-pendulum-dyn-sys.hpp:78
NoiseBase * processNoise_
Definition: bidim-elastic-inv-pendulum-dyn-sys.hpp:81
double dt_
Definition: bidim-elastic-inv-pendulum-dyn-sys.hpp:83
long int TimeIndex
Definition: definitions.hpp:139
constexpr double m
mass of the robot
Definition: hrp2.hpp:36
Eigen::Index Index
Definition: definitions.hpp:138
Definition: bidim-elastic-inv-pendulum-dyn-sys.hpp:20