mm::node::PlantModel Struct Reference

An identified plant model: the transfer function from torque in Nm to velocity in rad/s, and the chirp it came from. More...

#include <plant_identification.h>

Collaboration diagram for mm::node::PlantModel:

Public Member Functions
std::optional< double >	inertia () const
	The effective inertia: the denominator coefficient before the last.
std::optional< double >	friction () const
	The effective viscous friction: the last denominator coefficient.

Public Attributes
std::vector< double >	numerator
	Numerator coefficients, highest order first.
std::vector< double >	denominator
	Denominator coefficients, highest order first.
PlantModelChirp	chirp
	What excited the plant.

Detailed Description

An identified plant model: the transfer function from torque in Nm to velocity in rad/s, and the chirp it came from.

The coefficients are ordered highest power first, and the auto-tuning program normalises them so that the numerator's last coefficient is 1. The last two denominator coefficients are then the effective inertia and the effective viscous friction of the reduced model, which is how the program reads them when it computes gains.

Member Function Documentation

friction()

std::optional< double > mm::node::PlantModel::friction

(

)

const

The effective viscous friction: the last denominator coefficient.

Returns

Nothing when the denominator is empty.

inertia()

std::optional< double > mm::node::PlantModel::inertia

(

)

const

The effective inertia: the denominator coefficient before the last.

Returns

Nothing when the denominator has fewer than two coefficients.

Member Data Documentation

chirp

PlantModelChirp mm::node::PlantModel::chirp

What excited the plant.

denominator

std::vector<double> mm::node::PlantModel::denominator

Denominator coefficients, highest order first.

numerator

std::vector<double> mm::node::PlantModel::numerator

Numerator coefficients, highest order first.

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

• libs/node/plant_identification.h
• libs/node/plant_identification.cc