Inverted pendulum model. More...

#include <WMG.h>

Public Member Functions
	IPM (const double)
	Initialize state (A) and control (B) matrices for inverted pendulum model.
	~IPM ()
	Destructor.
void	calculateNextState (smpc::control &, smpc::state_orig &)
	Calculate next state using inverted pendulum model (A and B matrices).
Public Attributes
smpc::control	control_vector
smpc::state_orig	state_vector

double *	A
	State and control matrices, that can be used to determine the next state based on the current state and the controls.
double *	B
	State and control matrices, that can be used to determine the next state based on the current state and the controls.

Detailed Description

Inverted pendulum model.

Definition at line 237 of file WMG.h.

Constructor & Destructor Documentation

IPM::IPM ( const double sampling_time )

Initialize state (A) and control (B) matrices for inverted pendulum model.

Parameters:

[in] sampling_time period of time T.

Definition at line 16 of file inverted_pendulum.cpp.

IPM::~IPM ( )

Destructor.

Definition at line 36 of file inverted_pendulum.cpp.

void IPM::calculateNextState	(	smpc::control &	control,
		smpc::state_orig &	state
	)

Calculate next state using inverted pendulum model (A and B matrices).

Parameters:

[in]	control	1x2 vector of controls
[in,out]	state	1x6 state vector

Definition at line 56 of file inverted_pendulum.cpp.

double* IPM::A

State and control matrices, that can be used to determine the next state based on the current state and the controls.

Definition at line 248 of file WMG.h.

double* IPM::B

State and control matrices, that can be used to determine the next state based on the current state and the controls.

Definition at line 249 of file WMG.h.

Definition at line 252 of file WMG.h.

Definition at line 253 of file WMG.h.

The documentation for this class was generated from the following files: