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9 #ifndef DG_TUTORIAL_INVERTED_PENDULUM_HH
10 #define DG_TUTORIAL_INVERTED_PENDULUM_HH
12 #include <dynamic-graph/entity.h>
13 #include <dynamic-graph/signal-ptr.h>
14 #include <dynamic-graph/linear-algebra.h>
85 virtual std::string
getDocString()
const {
return "Classical inverted pendulum dynamic model\n"; }
88 void incr(
double inTimeStep);
97 void setCartMass(
const double& inMass) { cartMass_ = inMass; }
138 SignalPtr<double, int> forceSIN;
142 Signal< ::dynamicgraph::Vector, int> stateSOUT;
147 double pendulumMass_;
149 double pendulumLength_;
156 ::dynamicgraph::Vector computeDynamics(const ::dynamicgraph::Vector& inState,
const double& inControl,
Definition: feedback-controller.hh:15
double getCartMass() const
Get the mass of the cart.
Definition: inverted-pendulum.hh:102
virtual std::string getDocString() const
Header documentation of the python class.
Definition: inverted-pendulum.hh:85
void incr(double inTimeStep)
Integrate equation of motion over time step given as input.
double getPendulumLength() const
Get the length of the pendulum.
Definition: inverted-pendulum.hh:122
InvertedPendulum(const std::string &inName)
Constructor by name.
static const std::string CLASS_NAME
Definition: inverted-pendulum.hh:132
void setPendulumLength(const double &inLength)
Set the length of the cart.
Definition: inverted-pendulum.hh:117
void setCartMass(const double &inMass)
Set the mass of the cart.
Definition: inverted-pendulum.hh:97
double getPendulumMass() const
Get the mass of the pendulum.
Definition: inverted-pendulum.hh:112
void setPendulumMass(const double &inMass)
Set the mass of the cart.
Definition: inverted-pendulum.hh:107
Inverted Pendulum on a cart.
Definition: inverted-pendulum.hh:72
virtual const std::string & getClassName(void) const
Each entity should provide the name of the class it belongs to.
Definition: inverted-pendulum.hh:82