bidim-elastic-inv-pendulum-dyn-sys.hpp

 
#ifndef BIDIM_ELASTIC_INV_PENDULUM
#define BIDIM_ELASTIC_INV_PENDULUM
 
#include <state-observation/api.h>
#include <state-observation/dynamical-system/dynamical-system-functor-base.hpp>
#include <state-observation/noise/noise-base.hpp>
 
namespace stateObservation
{

class STATE_OBSERVATION_DLLAPI BidimElasticInvPendulum : public DynamicalSystemFunctorBase
{
public:
  BidimElasticInvPendulum();

  virtual ~BidimElasticInvPendulum();

  virtual Vector stateDynamics(const Vector & x, const Vector & u, TimeIndex k);

  virtual Vector measureDynamics(const Vector & x, const Vector & u, TimeIndex k);

  virtual void setProcessNoise(NoiseBase *);
  virtual void resetProcessNoise();
  virtual NoiseBase * getProcessNoise() const;

  virtual void setMeasurementNoise(NoiseBase *);
  virtual void resetMeasurementNoise();
  virtual NoiseBase * getMeasurementNoise() const;

  virtual void setSamplingPeriod(double dt);

  virtual Index getStateSize() const;
  virtual Index getInputSize() const;
  virtual Index getMeasurementSize() const;

  void setHeight(const double & h);
  void setMass(const double & m);
  void setElasticity(const double & k);
 
protected:
  double k_;
  double m_;
  double h_;
 
  NoiseBase * processNoise_;
 
  double dt_;
 
  static const Index stateSize_ = 4;
  static const Index inputSize_ = 1;
  static const Index measurementSize_ = 0;
};
} // namespace stateObservation
#endif // BIDIM_ELASTIC_INV_PENDULUM