[Pyrene_Actuator] Rename entity to pyreneActuator

NoelieRamuzat · NoelieRamuzat · commit 499fce45ce7e · 2020-02-28T14:48:27.000+01:00
diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
@@ -11,7 +11,7 @@ endmacro()
 
 SET(source_files
   pyrene_actuator/pyreneCostFunction.cpp
-  pyrene_actuator/PyreneActuator.cpp
+  pyrene_actuator/pyreneActuator.cpp
   romeo_actuator/costfunctionromeoactuator.cpp
   romeo_actuator/romeosimpleactuator.cpp
   romeo_actuator/romeotorqueactuator.cpp
@@ -25,7 +25,7 @@ SET(source_files
 
 SET(header_files
   pyrene_actuator/pyreneCostFunction.hh
-  pyrene_actuator/PyreneActuator.hh
+  pyrene_actuator/pyreneActuator.hh
   romeo_actuator/costfunctionromeoactuator.hh
   romeo_actuator/romeosimpleactuator.hh
   romeo_actuator/romeotorqueactuator.hh
diff --git a/examples/pyrene_actuator/mainBags.cpp b/examples/pyrene_actuator/mainBags.cpp
@@ -2,7 +2,7 @@
 #include <fstream>
 
 #include <ddp-actuator-solver/ddpsolver.hh>
-#include "PyreneActuator.hh"
+#include "pyreneActuator.hh"
 #include "pyreneCostFunction.hh"
 
 #include <time.h>
@@ -56,7 +56,7 @@ int main (int argc, char *argv[])
     DDPSolver<double,2,1>::commandVecTab_t uList;
     DDPSolver<double,2,1>::traj lastTraj;
 
-    PyreneActuator PyreneActuator;
+    pyreneActuator pyreneActuator;
     CostFunctionPyreneActuator costFunction;
     costFunction.setTauLimit(70);
     costFunction.setJointLimit(0.0, -2.35619449019);
@@ -67,8 +67,8 @@ int main (int argc, char *argv[])
     // P << 100.0;
     // costFunction.setCostGainState(Q);
     // costFunction.setCostGainTorqueConstraint(P);
-    // PyreneActuator.setLoadParam(30.0,-0.021481595, 0.10);
-    DDPSolver<double,2,1> testSolverActuator(PyreneActuator,costFunction,DISABLE_FULLDDP,DISABLE_QPBOX); 
+    // pyreneActuator.setLoadParam(30.0,-0.021481595, 0.10);
+    DDPSolver<double,2,1> testSolverActuator(pyreneActuator,costFunction,DISABLE_FULLDDP,DISABLE_QPBOX); 
 
     double dx_joint;
     dx_joint = 0.5422;
diff --git a/examples/pyrene_actuator/mainPyrene.cpp b/examples/pyrene_actuator/mainPyrene.cpp
@@ -2,7 +2,7 @@
 #include <fstream>
 
 #include <ddp-actuator-solver/ddpsolver.hh>
-#include "PyreneActuator.hh"
+#include "pyreneActuator.hh"
 #include "pyreneCostFunction.hh"
 
 #include <time.h>
@@ -30,12 +30,12 @@ int main()
     DDPSolver<double,2,1>::commandVecTab_t uList;
     DDPSolver<double,2,1>::traj lastTraj;
 
-    PyreneActuator PyreneActuator;
+    pyreneActuator pyreneActuator;
     CostFunctionPyreneActuator costFunction;
     costFunction.setTauLimit(70);   
     costFunction.setJointLimit(0.0, -2.35619449019);
     costFunction.setJointVelLimit(30.0, -30.0);
-    DDPSolver<double,2,1> testSolverActuator(PyreneActuator,costFunction,DISABLE_FULLDDP,DISABLE_QPBOX);
+    DDPSolver<double,2,1> testSolverActuator(pyreneActuator,costFunction,DISABLE_FULLDDP,DISABLE_QPBOX);
     testSolverActuator.FirstInitSolver(xinit,xDes,T,dt,iterMax,stopCrit);
 
     int N = 100;
diff --git a/examples/pyrene_actuator/pyreneActuator.cpp b/examples/pyrene_actuator/pyreneActuator.cpp
@@ -1,30 +1,30 @@
 #include <math.h>
 #include <cmath>  
 #include <iostream>
-#include "PyreneActuator.hh"
+#include "pyreneActuator.hh"
 #define pi M_PI
 
-const double PyreneActuator::K = 10.6; 
-const double PyreneActuator::J_j = 0.5878;
-const double PyreneActuator::F_vj = 0.4757;
-const double PyreneActuator::F_sj = 0.5403;
-const double PyreneActuator::offset_j = -0.3012;
-const double PyreneActuator::J_m = 0.21;
-const double PyreneActuator::F_vm = 5.6714;
-const double PyreneActuator::F_sm = 4.0420;
-const double PyreneActuator::offset_m = 0.5572;
-const double PyreneActuator::M = 4.5667;
-const double PyreneActuator::c_y = 1.1005/M;
-const double PyreneActuator::c_x = -0.0981/M; 
-const double PyreneActuator::mu = 1000.0;
-const double PyreneActuator::g = 9.81;
+const double pyreneActuator::K = 10.6; 
+const double pyreneActuator::J_j = 0.5878;
+const double pyreneActuator::F_vj = 0.4757;
+const double pyreneActuator::F_sj = 0.5403;
+const double pyreneActuator::offset_j = -0.3012;
+const double pyreneActuator::J_m = 0.21;
+const double pyreneActuator::F_vm = 5.6714;
+const double pyreneActuator::F_sm = 4.0420;
+const double pyreneActuator::offset_m = 0.5572;
+const double pyreneActuator::M = 4.5667;
+const double pyreneActuator::c_y = 1.1005/M;
+const double pyreneActuator::c_x = -0.0981/M; 
+const double pyreneActuator::mu = 1000.0;
+const double pyreneActuator::g = 9.81;
 
 /*
  * x0 -> actuator position
  * x1 -> actuator speed
  */
 
-PyreneActuator::PyreneActuator()
+pyreneActuator::pyreneActuator()
 {
   stateNb=2;
   commandNb=1;
@@ -55,25 +55,25 @@ PyreneActuator::PyreneActuator()
   upperCommandBounds << 1.0;
 }
 
-void PyreneActuator::setLoadParam(const double& mass, const double& coordX, const double& coordY)
+void pyreneActuator::setLoadParam(const double& mass, const double& coordX, const double& coordY)
 {
   L =  mass;
   l_y = coordY;
   l_x = coordX;
 }
 
-void PyreneActuator::setLoadMass(const double& mass)
+void pyreneActuator::setLoadMass(const double& mass)
 {
   L = mass;
   std::cout << " L : " << L << std::endl; 
 }
 
-void PyreneActuator::removeLoad()
+void pyreneActuator::removeLoad()
 {
   L = 0.0;
 }
 
-PyreneActuator::stateVec_t PyreneActuator::computeStateDeriv(double&, const stateVec_t& X,
+pyreneActuator::stateVec_t pyreneActuator::computeStateDeriv(double&, const stateVec_t& X,
     const commandVec_t &U)
 {
   stateVec_t dX;
@@ -84,7 +84,7 @@ PyreneActuator::stateVec_t PyreneActuator::computeStateDeriv(double&, const stat
   return dX;
 }
 
-PyreneActuator::stateVec_t PyreneActuator::computeNextState(double& dt, const stateVec_t& X,
+pyreneActuator::stateVec_t pyreneActuator::computeNextState(double& dt, const stateVec_t& X,
     const commandVec_t& U)
 {
   stateVec_t x_next,k1,k2,k3,k4;
@@ -97,7 +97,7 @@ PyreneActuator::stateVec_t PyreneActuator::computeNextState(double& dt, const st
 }
 
 
-void PyreneActuator::computeModelDeriv(double& dt, const stateVec_t& X,const commandVec_t& U)
+void pyreneActuator::computeModelDeriv(double& dt, const stateVec_t& X,const commandVec_t& U)
 {
   double dh = 1e-7;
   stateVec_t Xp, Xm;
@@ -113,17 +113,17 @@ void PyreneActuator::computeModelDeriv(double& dt, const stateVec_t& X,const com
   }
 }
 
-PyreneActuator::stateMat_t PyreneActuator::computeTensorContxx(const stateVec_t& )
+pyreneActuator::stateMat_t pyreneActuator::computeTensorContxx(const stateVec_t& )
 {
   return QxxCont;
 }
 
-PyreneActuator::commandMat_t PyreneActuator::computeTensorContuu(const stateVec_t& )
+pyreneActuator::commandMat_t pyreneActuator::computeTensorContuu(const stateVec_t& )
 {
   return QuuCont;
 }
 
-PyreneActuator::commandR_stateC_t PyreneActuator::computeTensorContux(const stateVec_t& )
+pyreneActuator::commandR_stateC_t pyreneActuator::computeTensorContux(const stateVec_t& )
 {
   return QuxCont;
 }
diff --git a/examples/pyrene_actuator/pyreneActuator.hh b/examples/pyrene_actuator/pyreneActuator.hh
@@ -3,10 +3,10 @@
 
 #include <ddp-actuator-solver/dynamicmodel.hh>
 
-class PyreneActuator : public DynamicModel<double,2,1>
+class pyreneActuator : public DynamicModel<double,2,1>
 {
 public:
-    PyreneActuator();
+    pyreneActuator();
     void setLoadParam(const double& mass, const double& coordX, const double& coordY);
     void setLoadMass(const double& mass);
     void removeLoad();

Original file line number	Diff line number	Diff line change
`@@ -1,30 +1,30 @@`
`1`	`1`	`#include <math.h>`
`2`	`2`	`#include <cmath>`
`3`	`3`	`#include <iostream>`
`4`		`-#include "PyreneActuator.hh"`
	`4`	`+#include "pyreneActuator.hh"`
`5`	`5`	`#define pi M_PI`
`6`	`6`
`7`		`-const double PyreneActuator::K = 10.6;`
`8`		`-const double PyreneActuator::J_j = 0.5878;`
`9`		`-const double PyreneActuator::F_vj = 0.4757;`
`10`		`-const double PyreneActuator::F_sj = 0.5403;`
`11`		`-const double PyreneActuator::offset_j = -0.3012;`
`12`		`-const double PyreneActuator::J_m = 0.21;`
`13`		`-const double PyreneActuator::F_vm = 5.6714;`
`14`		`-const double PyreneActuator::F_sm = 4.0420;`
`15`		`-const double PyreneActuator::offset_m = 0.5572;`
`16`		`-const double PyreneActuator::M = 4.5667;`
`17`		`-const double PyreneActuator::c_y = 1.1005/M;`
`18`		`-const double PyreneActuator::c_x = -0.0981/M;`
`19`		`-const double PyreneActuator::mu = 1000.0;`
`20`		`-const double PyreneActuator::g = 9.81;`
	`7`	`+const double pyreneActuator::K = 10.6;`
	`8`	`+const double pyreneActuator::J_j = 0.5878;`
	`9`	`+const double pyreneActuator::F_vj = 0.4757;`
	`10`	`+const double pyreneActuator::F_sj = 0.5403;`
	`11`	`+const double pyreneActuator::offset_j = -0.3012;`
	`12`	`+const double pyreneActuator::J_m = 0.21;`
	`13`	`+const double pyreneActuator::F_vm = 5.6714;`
	`14`	`+const double pyreneActuator::F_sm = 4.0420;`
	`15`	`+const double pyreneActuator::offset_m = 0.5572;`
	`16`	`+const double pyreneActuator::M = 4.5667;`
	`17`	`+const double pyreneActuator::c_y = 1.1005/M;`
	`18`	`+const double pyreneActuator::c_x = -0.0981/M;`
	`19`	`+const double pyreneActuator::mu = 1000.0;`
	`20`	`+const double pyreneActuator::g = 9.81;`
`21`	`21`
`22`	`22`	`/*`
`23`	`23`	`* x0 -> actuator position`
`24`	`24`	`* x1 -> actuator speed`
`25`	`25`	`*/`
`26`	`26`
`27`		`-PyreneActuator::PyreneActuator()`
	`27`	`+pyreneActuator::pyreneActuator()`
`28`	`28`	`{`
`29`	`29`	`stateNb=2;`
`30`	`30`	`commandNb=1;`
`@@ -55,25 +55,25 @@ PyreneActuator::PyreneActuator()`
`55`	`55`	`upperCommandBounds << 1.0;`
`56`	`56`	`}`
`57`	`57`
`58`		`-void PyreneActuator::setLoadParam(const double& mass, const double& coordX, const double& coordY)`
	`58`	`+void pyreneActuator::setLoadParam(const double& mass, const double& coordX, const double& coordY)`
`59`	`59`	`{`
`60`	`60`	`L = mass;`
`61`	`61`	`l_y = coordY;`
`62`	`62`	`l_x = coordX;`
`63`	`63`	`}`
`64`	`64`
`65`		`-void PyreneActuator::setLoadMass(const double& mass)`
	`65`	`+void pyreneActuator::setLoadMass(const double& mass)`
`66`	`66`	`{`
`67`	`67`	`L = mass;`
`68`	`68`	`std::cout << " L : " << L << std::endl;`
`69`	`69`	`}`
`70`	`70`
`71`		`-void PyreneActuator::removeLoad()`
	`71`	`+void pyreneActuator::removeLoad()`
`72`	`72`	`{`
`73`	`73`	`L = 0.0;`
`74`	`74`	`}`
`75`	`75`
`76`		`-PyreneActuator::stateVec_t PyreneActuator::computeStateDeriv(double&, const stateVec_t& X,`
	`76`	`+pyreneActuator::stateVec_t pyreneActuator::computeStateDeriv(double&, const stateVec_t& X,`
`77`	`77`	`const commandVec_t &U)`
`78`	`78`	`{`
`79`	`79`	`stateVec_t dX;`
`@@ -84,7 +84,7 @@ PyreneActuator::stateVec_t PyreneActuator::computeStateDeriv(double&, const stat`
`84`	`84`	`return dX;`
`85`	`85`	`}`
`86`	`86`
`87`		`-PyreneActuator::stateVec_t PyreneActuator::computeNextState(double& dt, const stateVec_t& X,`
	`87`	`+pyreneActuator::stateVec_t pyreneActuator::computeNextState(double& dt, const stateVec_t& X,`
`88`	`88`	`const commandVec_t& U)`
`89`	`89`	`{`
`90`	`90`	`stateVec_t x_next,k1,k2,k3,k4;`
`@@ -97,7 +97,7 @@ PyreneActuator::stateVec_t PyreneActuator::computeNextState(double& dt, const st`
`97`	`97`	`}`
`98`	`98`
`99`	`99`
`100`		`-void PyreneActuator::computeModelDeriv(double& dt, const stateVec_t& X,const commandVec_t& U)`
	`100`	`+void pyreneActuator::computeModelDeriv(double& dt, const stateVec_t& X,const commandVec_t& U)`
`101`	`101`	`{`
`102`	`102`	`double dh = 1e-7;`
`103`	`103`	`stateVec_t Xp, Xm;`
`@@ -113,17 +113,17 @@ void PyreneActuator::computeModelDeriv(double& dt, const stateVec_t& X,const com`
`113`	`113`	`}`
`114`	`114`	`}`
`115`	`115`
`116`		`-PyreneActuator::stateMat_t PyreneActuator::computeTensorContxx(const stateVec_t& )`
	`116`	`+pyreneActuator::stateMat_t pyreneActuator::computeTensorContxx(const stateVec_t& )`
`117`	`117`	`{`
`118`	`118`	`return QxxCont;`
`119`	`119`	`}`
`120`	`120`
`121`		`-PyreneActuator::commandMat_t PyreneActuator::computeTensorContuu(const stateVec_t& )`
	`121`	`+pyreneActuator::commandMat_t pyreneActuator::computeTensorContuu(const stateVec_t& )`
`122`	`122`	`{`
`123`	`123`	`return QuuCont;`
`124`	`124`	`}`
`125`	`125`
`126`		`-PyreneActuator::commandR_stateC_t PyreneActuator::computeTensorContux(const stateVec_t& )`
	`126`	`+pyreneActuator::commandR_stateC_t pyreneActuator::computeTensorContux(const stateVec_t& )`
`127`	`127`	`{`
`128`	`128`	`return QuxCont;`
`129`	`129`	`}`