Detailed Description

template<typename T>
class delphyne::SimplePowertrain< T >

SimplePowertrain models a powertrain with first-order lag.

It accepts throttle as the input and outputs the applied lumped force from the vehicle to the road.

Input:

A unitless scalar value representing the throttle input to the power system.

Output:

The force transmitted from the vehicle to the road [N].

Template Parameters

T	The vector element type, which must be a valid Eigen scalar.

Instantiated templates for the following kinds of T's are provided:

double
AutoDiffXd
symbolic::Expression

They are already available to link against in the containing library.

#include <src/systems/simple_powertrain.h>

Inheritance diagram for SimplePowertrain< T >:

[legend]

Public Member Functions
	DRAKE_NO_COPY_NO_MOVE_NO_ASSIGN (SimplePowertrain)

	SimplePowertrain (double time_constant, double gain)
	Constructs a simple powertrain model, specified via a fixed time-constant and scalar gain. More...

template<typename U >
	SimplePowertrain (const SimplePowertrain< U > &other)
	Scalar-converting copy constructor. More...

	~SimplePowertrain () override=default

const drake::systems::InputPort< T > &	get_throttle_input_port () const

const drake::systems::OutputPort< T > &	get_force_output_port () const


double	get_time_constant () const
	Accessors for the system constants. More...

double	get_gain () const

Constructor & Destructor Documentation

◆ SimplePowertrain() [1/2]

SimplePowertrain	(	double	time_constant,
		double	gain
	)

Constructs a simple powertrain model, specified via a fixed time-constant and scalar gain.

The inputs are as follows:

Parameters

time_constant	is the rise time of the first-order lag [s].
gain	is the gain converting throttle input to force output [N].

◆ SimplePowertrain() [2/2]

SimplePowertrain ( const SimplePowertrain< U > & other )

explicit

Scalar-converting copy constructor.

◆ ~SimplePowertrain()

~SimplePowertrain ( )

overridedefault

Member Function Documentation

◆ DRAKE_NO_COPY_NO_MOVE_NO_ASSIGN()

DRAKE_NO_COPY_NO_MOVE_NO_ASSIGN ( SimplePowertrain< T > )

◆ get_force_output_port()

const drake::systems::OutputPort<T>& get_force_output_port ( ) const

◆ get_gain()

double get_gain ( ) const

◆ get_throttle_input_port()

const drake::systems::InputPort<T>& get_throttle_input_port ( ) const

◆ get_time_constant()

double get_time_constant ( ) const

Accessors for the system constants.

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

simple_powertrain.h