AcrobotParameters Class Reference

Detailed Description

This class is used to store the numerical parameters defining the model of an acrobot with the method MakeAcrobotPlant().

Refer to this the documentation of this class's constructor for further details on the parameters stored by this class and their default values.

Note

The default constructor initializes the parameters in accordance to the acrobot.sdf file in this same directory. Therefore this file and acrobot.sdf MUST be kept in sync.

#include <drake/multibody/benchmarks/acrobot/make_acrobot_plant.h>

Public Member Functions
	AcrobotParameters (double m1=1.0, double m2=1.0, double l1=1.0, double l2=2.0, double lc1=0.5, double lc2=1.0, double Ic1=.083, double Ic2=.33, double b1=0.1, double b2=0.1, double g=9.81)
	Constructor used to initialize the physical parameters for an acrobot model. More...
double	m1 () const
double	m2 () const
double	l1 () const
double	l2 () const
double	lc1 () const
double	lc2 () const
double	Ic1 () const
double	Ic2 () const
double	Gc1 () const
double	Gc2 () const
double	b1 () const
double	b2 () const
double	g () const
double	r1 () const
double	r2 () const
const std::string &	link1_name () const
const std::string &	link2_name () const
const std::string &	shoulder_joint_name () const
const std::string &	elbow_joint_name () const
const std::string &	actuator_name () const
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
	AcrobotParameters (const AcrobotParameters &)=default
AcrobotParameters &	operator= (const AcrobotParameters &)=default
	AcrobotParameters (AcrobotParameters &&)=default
AcrobotParameters &	operator= (AcrobotParameters &&)=default

Constructor & Destructor Documentation

AcrobotParameters() [1/3]

AcrobotParameters ( const AcrobotParameters &  )

default

AcrobotParameters() [2/3]

AcrobotParameters ( AcrobotParameters &&  )

default

AcrobotParameters() [3/3]

AcrobotParameters	(	double	m1 = 1.0,
		double	m2 = 1.0,
		double	l1 = 1.0,
		double	l2 = 2.0,
		double	lc1 = 0.5,
		double	lc2 = 1.0,
		double	Ic1 = .083,
		double	Ic2 = .33,
		double	b1 = 0.1,
		double	b2 = 0.1,
		double	g = 9.81
	)

Constructor used to initialize the physical parameters for an acrobot model.

The parameters are defaulted to values in Spong's paper [Spong 1994].

Parameters

m1	Mass of link 1 (kg).
m2	Mass of link 2 (kg).
l1	Length of link 1 (m).
l2	Length of link 2 (m).
lc1	Vertical distance from shoulder joint to center of mass of link 1 (m).
lc2	Vertical distance from elbow joint to center of mass of link 2 (m).
Ic1	Inertia of link 1 about the center of mass of link 1 (kg⋅m²).
Ic2	Inertia of link 2 about the center of mass of link 2 (kg*m^2).
b1	Damping coefficient of the shoulder joint (N⋅m⋅s).
b2	Damping coefficient of the elbow joint (N⋅m⋅s).
g	Gravitational constant (m/s²).

• [Spong 1994] Spong, M.W., 1994. Swing up control of the acrobot. In Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on (pp. 2356-2361). IEEE.

Member Function Documentation

actuator_name()

const std::string& actuator_name

(

)

const

b1()

double b1

(

)

const

b2()

double b2

(

)

const

elbow_joint_name()

const std::string& elbow_joint_name

(

)

const

g()

double g

(

)

const

Gc1()

double Gc1

(

)

const

Gc2()

double Gc2

(

)

const

Ic1()

double Ic1

(

)

const

Ic2()

double Ic2

(

)

const

l1()

double l1

(

)

const

l2()

double l2

(

)

const

lc1()

double lc1

(

)

const

lc2()

double lc2

(

)

const

link1_name()

const std::string& link1_name

(

)

const

link2_name()

const std::string& link2_name

(

)

const

m1()

double m1

(

)

const

m2()

double m2

(

)

const

operator=() [1/2]

AcrobotParameters& operator= ( AcrobotParameters &&  )

default

operator=() [2/2]

AcrobotParameters& operator= ( const AcrobotParameters &  )

default

r1()

double r1

(

)

const

r2()

double r2

(

)

const

shoulder_joint_name()

const std::string& shoulder_joint_name

(

)

const

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

• drake/multibody/benchmarks/acrobot/make_acrobot_plant.h