#include <flywheelSimulator.hpp>

Public Member Functions
	FlywheelSimulator (double imass=0.01, double ilinkLen=1, double imuStatic=0.1, double imuDynamic=0.9, double itimestep=0.01)
	A simulator for an inverted pendulum.

virtual	~FlywheelSimulator ()

double	step ()
	Step the simulation by the timestep.

double	step (double itorque)
	Step the simulation by the timestep.

void	setExternalTorqueFunction (std::function< double(double angle, double mass, double linkLength)> itorqueFunc)
	Sets the torque function used to calculate the torque due to external forces.

void	setTorque (double itorque)
	Sets the input torque.

void	setMaxTorque (double imaxTorque)
	Sets the max torque.

void	setAngle (double iangle)
	Sets the current angle.

void	setMass (double imass)
	Sets the mass (kg).

void	setLinkLength (double ilinkLen)
	Sets the link length (m).

void	setStaticFriction (double imuStatic)
	Sets the static friction (N*m).

void	setDynamicFriction (double imuDynamic)
	Sets the dynamic friction (N*m).

void	setTimestep (double itimestep)
	Sets the timestep (sec).

double	getAngle () const
	Returns the current angle (angle in rad).

double	getOmega () const
	Returns the current omgea (angular velocity in rad / sec).

double	getAcceleration () const
	Returns the current acceleration (angular acceleration in rad / sec^2).

double	getMaxTorque () const
	Returns the maximum torque input.

Protected Member Functions
virtual double	stepImpl ()

Protected Attributes
double	inputTorque = 0

double	maxTorque = 0.5649

double	angle = 0

double	omega = 0

double	accel = 0

double	mass

double	linkLen

double	muStatic

double	muDynamic

double	timestep

double	I = 0

std::function< double(double, double, double)>	torqueFunc

const double	minTimestep = 0.000001

Detailed Description

Definition at line 11 of file flywheelSimulator.hpp.

Constructor & Destructor Documentation

◆ FlywheelSimulator()

okapi::FlywheelSimulator::FlywheelSimulator	(	double	imass = `0.01`,
		double	ilinkLen = `1`,
		double	imuStatic = `0.1`,
		double	imuDynamic = `0.9`,
		double	itimestep = `0.01`
	)

explicit

A simulator for an inverted pendulum.

The center of mass of the system changes as the link rotates (by default, you can set a new torque function with setExternalTorqueFunction()).

◆ ~FlywheelSimulator()

virtual okapi::FlywheelSimulator::~FlywheelSimulator ( )

virtual

Member Function Documentation

◆ getAcceleration()

double okapi::FlywheelSimulator::getAcceleration ( ) const

Returns the current acceleration (angular acceleration in rad / sec^2).

Returns: the current acceleration

◆ getAngle()

double okapi::FlywheelSimulator::getAngle ( ) const

Returns the current angle (angle in rad).

Returns: the current angle

◆ getMaxTorque()

double okapi::FlywheelSimulator::getMaxTorque ( ) const

Returns the maximum torque input.

Returns: the max torque input

◆ getOmega()

double okapi::FlywheelSimulator::getOmega ( ) const

Returns the current omgea (angular velocity in rad / sec).

Returns: the current omega

◆ setAngle()

void okapi::FlywheelSimulator::setAngle ( double iangle )

Sets the current angle.

Parameters

iangle new angle

◆ setDynamicFriction()

void okapi::FlywheelSimulator::setDynamicFriction ( double imuDynamic )

Sets the dynamic friction (N*m).

Parameters

imuDynamic new dynamic friction

◆ setExternalTorqueFunction()

void okapi::FlywheelSimulator::setExternalTorqueFunction ( std::function< double(double angle, double mass, double linkLength)> itorqueFunc )

Sets the torque function used to calculate the torque due to external forces.

This torque gets summed with the input torque.

For example, the default torque function has the torque due to gravity vary as the link swings: [](double angle, double mass, double linkLength) { return (linkLength * std::cos(angle)) * (mass * -1 * gravity); }

Parameters

itorqueFunc the torque function. The return value is the torque due to external forces

◆ setLinkLength()

void okapi::FlywheelSimulator::setLinkLength ( double ilinkLen )

Sets the link length (m).

Parameters

ilinkLen new link length

◆ setMass()

void okapi::FlywheelSimulator::setMass ( double imass )

Sets the mass (kg).

Parameters

imass new mass

◆ setMaxTorque()

void okapi::FlywheelSimulator::setMaxTorque ( double imaxTorque )

Sets the max torque.

The input torque cannot exceed this maximum torque.

Parameters

imaxTorque new maximum torque

◆ setStaticFriction()

void okapi::FlywheelSimulator::setStaticFriction ( double imuStatic )

Sets the static friction (N*m).

Parameters

imuStatic new static friction

◆ setTimestep()

void okapi::FlywheelSimulator::setTimestep ( double itimestep )

Sets the timestep (sec).

Parameters

itimestep new timestep

◆ setTorque()

void okapi::FlywheelSimulator::setTorque ( double itorque )

Sets the input torque.

The input will be bounded by the max torque.

Parameters

itorque new input torque

◆ step() [1/2]

double okapi::FlywheelSimulator::step ( )

Step the simulation by the timestep.

Returns: the current angle

◆ step() [2/2]

double okapi::FlywheelSimulator::step ( double itorque )

Step the simulation by the timestep.

Parameters

itorque new input torque

Returns: the current angle

◆ stepImpl()

virtual double okapi::FlywheelSimulator::stepImpl ( )

protectedvirtual

Member Data Documentation

◆ accel

double okapi::FlywheelSimulator::accel = 0

protected

Definition at line 143 of file flywheelSimulator.hpp.

◆ angle

double okapi::FlywheelSimulator::angle = 0

protected

Definition at line 141 of file flywheelSimulator.hpp.

◆ I

double okapi::FlywheelSimulator::I = 0

protected

Definition at line 149 of file flywheelSimulator.hpp.

◆ inputTorque

double okapi::FlywheelSimulator::inputTorque = 0

protected

Definition at line 139 of file flywheelSimulator.hpp.

◆ linkLen

double okapi::FlywheelSimulator::linkLen

protected

Definition at line 145 of file flywheelSimulator.hpp.

◆ mass

double okapi::FlywheelSimulator::mass

protected

Definition at line 144 of file flywheelSimulator.hpp.

◆ maxTorque

double okapi::FlywheelSimulator::maxTorque = 0.5649

protected

Definition at line 140 of file flywheelSimulator.hpp.

◆ minTimestep

const double okapi::FlywheelSimulator::minTimestep = 0.000001

protected

Definition at line 152 of file flywheelSimulator.hpp.

◆ muDynamic

double okapi::FlywheelSimulator::muDynamic

protected

Definition at line 147 of file flywheelSimulator.hpp.

◆ muStatic

double okapi::FlywheelSimulator::muStatic

protected

Definition at line 146 of file flywheelSimulator.hpp.

◆ omega

double okapi::FlywheelSimulator::omega = 0

protected

Definition at line 142 of file flywheelSimulator.hpp.

◆ timestep

double okapi::FlywheelSimulator::timestep

protected

Definition at line 148 of file flywheelSimulator.hpp.

◆ torqueFunc

std::function<double(double, double, double)> okapi::FlywheelSimulator::torqueFunc

protected

Definition at line 150 of file flywheelSimulator.hpp.

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

include/okapi/api/control/util/flywheelSimulator.hpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ FlywheelSimulator()

◆ ~FlywheelSimulator()

Member Function Documentation

◆ getAcceleration()

◆ getAngle()

◆ getMaxTorque()

◆ getOmega()

◆ setAngle()

◆ setDynamicFriction()

◆ setExternalTorqueFunction()

◆ setLinkLength()

◆ setMass()

◆ setMaxTorque()

◆ setStaticFriction()

◆ setTimestep()

◆ setTorque()

◆ step() [1/2]

◆ step() [2/2]

◆ stepImpl()

Member Data Documentation

◆ accel

◆ angle

◆ I

◆ inputTorque

◆ linkLen

◆ mass

◆ maxTorque

◆ minTimestep

◆ muDynamic

◆ muStatic

◆ omega

◆ timestep

◆ torqueFunc