Exotica
cartpole_dynamics_solver.h
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29 
30 #ifndef EXOTICA_CARTPOLE_DYNAMICS_SOLVER_CARTPOLE_DYNAMICS_SOLVER_H_
31 #define EXOTICA_CARTPOLE_DYNAMICS_SOLVER_CARTPOLE_DYNAMICS_SOLVER_H_
32 
34 #include <exotica_core/scene.h>
35 
36 #include <exotica_cartpole_dynamics_solver/cartpole_dynamics_solver_initializer.h>
37 
38 namespace exotica
39 {
43 class CartpoleDynamicsSolver : public DynamicsSolver, public Instantiable<CartpoleDynamicsSolverInitializer>
44 {
45 public:
47  void AssignScene(ScenePtr scene_in) override;
48 
53  StateVector f(const StateVector& x, const ControlVector& u) override;
54 
59  Eigen::MatrixXd fx(const StateVector& x, const ControlVector& u) override;
64  Eigen::MatrixXd fu(const StateVector& x, const ControlVector& u) override;
65 
66  // NOTE: fuu is always zero, so we don't override it
67  Eigen::Tensor<double, 3> fxx(const StateVector& x, const ControlVector& u) override;
68  Eigen::Tensor<double, 3> fxu(const StateVector& x, const ControlVector& u) override;
69 
70 private:
71  double g_ = 9.81;
72  double m_c_ = 1;
73  double m_p_ = 1;
74  double l_ = 1;
75 };
76 } // namespace exotica
77 
78 #endif // EXOTICA_CARTPOLE_DYNAMICS_SOLVER_CARTPOLE_DYNAMICS_SOLVER_H_
exotica::CartpoleDynamicsSolver::AssignScene
void AssignScene(ScenePtr scene_in) override
exotica::CartpoleDynamicsSolver::m_p_
double m_p_
!< Cart mass (kg)
Definition: cartpole_dynamics_solver.h:73
exotica::CartpoleDynamicsSolver::fu
Eigen::MatrixXd fu(const StateVector &x, const ControlVector &u) override
Computes the dynamics derivative w.r.t .the control input u.
exotica::AbstractDynamicsSolver
Definition: dynamics_solver.h:55
exotica::AbstractDynamicsSolver::StateVector
Eigen::Matrix< T, NX, 1 > StateVector
Convenience definition for a StateVector containing both position and velocity (dimension NX x 1)
Definition: dynamics_solver.h:58
exotica::CartpoleDynamicsSolver::fx
Eigen::MatrixXd fx(const StateVector &x, const ControlVector &u) override
Computes the dynamics derivative w.r.t .the state x.
exotica::Instantiable
Definition: property.h:110
exotica
Definition: cartpole_dynamics_solver.h:38
exotica::CartpoleDynamicsSolver::f
StateVector f(const StateVector &x, const ControlVector &u) override
Computes the forward dynamics of the system.
exotica::CartpoleDynamicsSolver::fxx
Eigen::Tensor< double, 3 > fxx(const StateVector &x, const ControlVector &u) override
scene.h
exotica::ScenePtr
std::shared_ptr< Scene > ScenePtr
Definition: scene.h:246
exotica::CartpoleDynamicsSolver::CartpoleDynamicsSolver
CartpoleDynamicsSolver()
exotica::CartpoleDynamicsSolver::fxu
Eigen::Tensor< double, 3 > fxu(const StateVector &x, const ControlVector &u) override
exotica::AbstractDynamicsSolver::ControlVector
Eigen::Matrix< T, NU, 1 > ControlVector
Convenience definition for a ControlVector (dimension NU x 1)
Definition: dynamics_solver.h:59
exotica::CartpoleDynamicsSolver
Definition: cartpole_dynamics_solver.h:43
exotica::CartpoleDynamicsSolver::l_
double l_
!< Pole mass (kg)
Definition: cartpole_dynamics_solver.h:74
exotica::CartpoleDynamicsSolver::g_
double g_
Definition: cartpole_dynamics_solver.h:71
exotica::CartpoleDynamicsSolver::m_c_
double m_c_
!< Gravity (m/s^2)
Definition: cartpole_dynamics_solver.h:72
dynamics_solver.h