flywheelSimulator.hpp

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/*
 * This Source Code Form is subject to the terms of the Mozilla Public
 * License, v. 2.0. If a copy of the MPL was not distributed with this
 * file, You can obtain one at http://mozilla.org/MPL/2.0/.
 */
#pragma once
 
#include <functional>
 
namespace okapi {
class FlywheelSimulator {
  public:
  explicit FlywheelSimulator(double imass = 0.01,
                             double ilinkLen = 1,
                             double imuStatic = 0.1,
                             double imuDynamic = 0.9,
                             double itimestep = 0.01);
 
  virtual ~FlywheelSimulator();
 
  double step();
 
  double step(double itorque);
 
  void setExternalTorqueFunction(
    std::function<double(double angle, double mass, double linkLength)> itorqueFunc);
 
  void setTorque(double itorque);
 
  void setMaxTorque(double imaxTorque);
 
  void setAngle(double iangle);
 
  void setMass(double imass);
 
  void setLinkLength(double ilinkLen);
 
  void setStaticFriction(double imuStatic);
 
  void setDynamicFriction(double imuDynamic);
 
  void setTimestep(double itimestep);
 
  double getAngle() const;
 
  double getOmega() const;
 
  double getAcceleration() const;
 
  double getMaxTorque() const;
 
  protected:
  double inputTorque = 0;    // N*m
  double maxTorque = 0.5649; // N*m
  double angle = 0;          // rad
  double omega = 0;          // rad / sec
  double accel = 0;          // rad / sec^2
  double mass;               // kg
  double linkLen;            // m
  double muStatic;           // N*m
  double muDynamic;          // N*m
  double timestep;           // sec
  double I = 0;              // moment of inertia
  std::function<double(double, double, double)> torqueFunc;
 
  const double minTimestep = 0.000001; // 1 us
 
  virtual double stepImpl();
};
} // namespace okapi