sc_pd.h

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//-----------------------------------------------------------------------------------------
//     A PD Based n dof controller for spacecraft
//-----------------------------------------------------------------------------------------
//     Copyright (c) 2014 Princeton Satellite Systems.  All rights reserved.
//-----------------------------------------------------------------------------------------
 
 
#ifndef __PD__
#define __PD__
 
#ifdef AS_OS_WINDOWS
        #include "matrixlib.h"
#else
        #include <MatrixLib/MatrixLib.h>
#endif
 
 
class PD
{
                
        private:
        double  gain_a;
        double  gain_b;
        double  gain_c;
        double  gain_d;
                ml_matrix  inertia;
                ml_matrix angle_command;
        ml_matrix x;
    
        public:
                ml_matrix q_desired_state;
        
                                        PD( void );
        void            Initialize( double  a, double  b, double c, double d, ml_matrix inertia );
                ml_matrix       Update( ml_matrix angle_error );
                void            Reset( void );
                void            SetInertia( ml_matrix inertia ){this->inertia = inertia;};
        ml_matrix   GetInertia( void ){ return this->inertia; };
 
 
};
 
 
#endif