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CAckermannModel Class Reference
Public Member Functions

CAckermannModel Class Reference

CAckermannModel class. More...

#include <ackermannmodel.hpp>

Inherits CSystemModelType< double, 2, 10, 5 >.

Public Member Functions

 CAckermannModel (const double f_dt, const double f_gamma, const double f_wb, const double f_b, const double f_J, const double f_K, const double f_R, const double f_L)
 Constructor for the CAckermannModel class.
 CAckermannModel (const CStatesType &f_states, const double f_dt, const double f_gamma, const double f_wb, const double f_b, const double f_J, const double f_K, const double f_R, const double f_L)
 Constructor for the CAckermannModel class.
CStatesType update (const CInputType &f_input)
 Update method.
COutputType calculateOutput (const CInputType &f_input)
 Calculate output method.

Detailed Description

CAckermannModel class.

It inherits class CSystemModelType.

Definition at line 46 of file ackermannmodel.hpp.

Constructor & Destructor Documentation

CAckermannModel ( const double  f_dt,
const double  f_gamma,
const double  f_wb,
const double  f_b,
const double  f_J,
const double  f_K,
const double  f_R,
const double  f_L 
)

Constructor for the CAckermannModel class.

Constructor method

Parameters:
[in]f_dtsample time
[in]f_gammareduction factor from motor to wheel
[in]f_wbwheel base
[in]f_bmotor viscous friction constant
[in]f_Jmoment of inertia of the rotor
[in]f_Kmotor torque constant
[in]f_Relectric resistance
[in]f_Lelectric inductance

Definition at line 66 of file ackermannmodel.cpp.

CAckermannModel ( const CStatesType &  f_states,
const double  f_dt,
const double  f_gamma,
const double  f_wb,
const double  f_b,
const double  f_J,
const double  f_K,
const double  f_R,
const double  f_L 
)

Constructor for the CAckermannModel class.

Constructor method

Parameters:
[in]f_statesreference to initial system states
[in]f_dtsample time
[in]f_gammareduction factor from motor to wheel
[in]f_wbwheel base
[in]f_bmotor viscous friction constant
[in]f_Jmoment of inertia of the rotor
[in]f_Kmotor torque constant
[in]f_Relectric resistance
[in]f_Lelectric inductance

Definition at line 31 of file ackermannmodel.cpp.

Member Function Documentation

ackermannmodeltype::COutputType calculateOutput ( const CInputType &  f_input )

Calculate output method.

Method for calculating output depending on input.

Parameters:
[in]f_inputreference to input type object
Returns:
systemoutputs

Definition at line 127 of file ackermannmodel.cpp.

ackermannmodeltype::CStatesType update ( const CInputType &  f_input )

Update method.

Method for updating system states.

Parameters:
[in]f_inputreference to input type object
Returns:
system states

Definition at line 94 of file ackermannmodel.cpp.

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