ackermanntypes.hpp

00001 /**
00002   ******************************************************************************
00003   * @file    AckermannTypes.hpp
00004   * @author  RBRO/PJ-IU
00005   * @version V1.0.0
00006   * @date    day-month-year
00007   * @brief   This file contains the class declaration and implementation for the
00008              Ackermann types.
00009   ******************************************************************************
00010  */
00011 
00012 /* Include guard */
00013 #ifndef ACKERMANN_TYPES_HPP
00014 #define ACKERMANN_TYPES_HPP
00015 
00016 #include <Linalg/linalg.h>
00017 
00018 namespace examples
00019 {
00020     namespace systemmodels
00021     {
00022         namespace ackermannmodel
00023         {
00024             class CState: public linalg::CMatrix<double,10,1>
00025             {
00026                 public:
00027                     CState():linalg::CMatrix<double,10,1>(){}
00028                     CState(const linalg::CMatrix<double,10,1>& f_matrix):linalg::CMatrix<double,10,1>(f_matrix){}
00029                     double& x(){return m_data[0][0];}
00030                     const double& x() const {return m_data[0][0];}
00031                     
00032                     double& y(){return m_data[1][0];}
00033                     const double& y() const {return m_data[1][0];}
00034                     
00035                     double& x_dot(){return m_data[2][0];}
00036                     const double& x_dot() const {return m_data[2][0];}
00037 
00038                     double& y_dot(){return m_data[3][0];}
00039                     const double& y_dot() const{return m_data[3][0];}
00040 
00041                     double& x_dot_prev(){return m_data[4][0];}
00042                     const double& x_dot_prev() const{return m_data[4][0];}
00043 
00044                     double& y_dot_prev(){return m_data[5][0];}
00045                     const double& y_dot_prev() const{return m_data[5][0];}
00046 
00047                     double& teta_rad(){return m_data[6][0];}
00048                     const double& teta_rad() const{return m_data[6][0];}
00049 
00050                     double& teta_rad_dot(){return m_data[7][0];}
00051                     const double& teta_rad_dot() const{return m_data[7][0];}
00052                     
00053                     double& omega(){ return m_data[8][0];}
00054                     const double& omega() const{return m_data[8][0];}
00055 
00056                     double& i(){return m_data[9][0];}
00057                     const double& i() const{return m_data[9][0];}
00058 
00059                     // CState& operator=(const linalg::CMatrix<double,10,1>& f_matrix){
00060                     //     for (uint32_t l_row = 0; l_row < 10; ++l_row)
00061                     //     {
00062                     //         for (uint32_t l_col = 0; l_col < 1; ++l_col)
00063                     //         {
00064                     //             this->m_data[l_row][l_col] = f_matrix[l_row][l_col];
00065                     //         }
00066                     //     }
00067                     //     return *this;
00068                     // }
00069             };
00070 
00071             class CInput:public linalg::CMatrix<double,2,1>
00072             {
00073                 public:
00074                     CInput():linalg::CMatrix<double,2,1>(){}
00075                     CInput(const linalg::CMatrix<double,2,1>& f_matrix):linalg::CMatrix<double,2,1>(f_matrix){} 
00076                     double& v(){return m_data[0][0];}
00077                     const double& v()const{return m_data[0][0];}
00078                     double& alpha(){return m_data[1][0];}
00079                     const double& alpha()const{return m_data[1][0];}
00080             };
00081 
00082             class COutput:public linalg::CMatrix<double,5,1>
00083             {
00084                 public:
00085                     COutput():linalg::CMatrix<double,5,1>(){}
00086                     COutput(const linalg::CMatrix<double,5,1>& f_matrix):linalg::CMatrix<double,5,1>(f_matrix){}
00087                     double& x_ddot(){return m_data[0][0];}
00088                     const double& x_ddot() const{return m_data[0][0];}
00089                     double& y_ddot(){return m_data[1][0];}
00090                     const double& y_ddot()const {return m_data[1][0];}
00091                     double& teta_rad_dot(){return m_data[2][0];}
00092                     const double& teta_rad_dot()const{return m_data[2][0];}
00093                     double& speed(){return m_data[3][0];}
00094                     const double& speed()const {return m_data[3][0];}
00095                     
00096                     // double& alpha(){
00097                     //     return m_data[4][0];
00098                     // }
00099                     // const double& alpha()const{
00100                     //     return m_data[4][0];
00101                     // }
00102                     double& i(){return m_data[4][0];}
00103                     const double& i()const{return m_data[4][0];}
00104             };
00105         };
00106     };
00107 };
00108 
00109 #endif