CustomController Class Reference

an example controller class that takes a 2-dimensional state and outputs a 1-dimensional control action More...

#include <CustomController.h>

Inheritance diagram for CustomController:

Public Member Functions
	CustomController (const ct::core::ControlVector< control_dim > &uff, const double &kp, const double &kd)
	default constructor More...
	~CustomController ()
	destructor More...
	CustomController (const CustomController &other)
	copy constructor More...
CustomController *	clone () const override
	clone method, needs to be implemented, overrides ct::core::Controller::clone() More...
void	computeControl (const ct::core::StateVector< state_dim > &state, const double &t, ct::core::ControlVector< control_dim > &controlAction) override
	override the compute control method with a custom control law More...
Public Member Functions inherited from ct::core::Controller< 2, 1 >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	Controller ()
	Default constructor. More...
	Controller (const Controller &other)
	Copy constructor. More...
virtual	~Controller ()
	Destructor. More...
virtual void	computeControl (const StateVector< STATE_DIM, double > &state, const double &t, ControlVector< CONTROL_DIM, double > &controlAction)=0
	Compute control signal. More...
virtual ControlMatrix< CONTROL_DIM, double >	getDerivativeU0 (const StateVector< STATE_DIM, double > &state, const double time)
	Returns the the derivative of the control with respect to the initial control input u0. More...
virtual ControlMatrix< CONTROL_DIM, double >	getDerivativeUf (const StateVector< STATE_DIM, double > &state, const double time)
	Returns the the derivative of the control with respect to the final control input uF. More...

Static Public Attributes
static const size_t	state_dim = 2
static const size_t	control_dim = 1

Detailed Description

an example controller class that takes a 2-dimensional state and outputs a 1-dimensional control action

Examples:

CustomController.h, and DampedOscillatorCustomController.cpp.

Constructor & Destructor Documentation

CustomController() [1/2]

CustomController::CustomController ( const ct::core::ControlVector< control_dim > &  uff, const double &  kp, const double &  kd  )

inline

default constructor

Examples:

CustomController.h.

Referenced by clone().

~CustomController()

CustomController::~CustomController ( )

inline

destructor

Examples:

CustomController.h.

CustomController() [2/2]

CustomController::CustomController ( const CustomController &  other )

inline

copy constructor

Member Function Documentation

clone()

CustomController* CustomController::clone ( ) const

inlineoverridevirtual

clone method, needs to be implemented, overrides ct::core::Controller::clone()

Implements ct::core::Controller< 2, 1 >.

Examples:

CustomController.h.

References CustomController().

computeControl()

void CustomController::computeControl ( const ct::core::StateVector< state_dim > &  state, const double &  t, ct::core::ControlVector< control_dim > &  controlAction  )

inlineoverride

override the compute control method with a custom control law

Examples:

CustomController.h.

Member Data Documentation

state_dim

const size_t CustomController::state_dim = 2

static

Examples:

CustomController.h.

control_dim

const size_t CustomController::control_dim = 1

static

Examples:

CustomController.h.

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

• /home/gim2rng/ct_devel_ws/src/control-toolbox/ct_core/examples/include/ct/core/examples/CustomController.h