ct::optcon::CARE< STATE_DIM, CONTROL_DIM > Class Template Reference

Continuous-Time Algebraic Riccati Equation. More...

#include <CARE.hpp>

Public Types
typedef Eigen::Matrix< double, CONTROL_DIM, CONTROL_DIM >	control_matrix_t
typedef Eigen::Matrix< double, CONTROL_DIM, STATE_DIM >	control_state_matrix_t
typedef Eigen::Matrix< double, STATE_DIM, CONTROL_DIM >	control_gain_matrix_t
typedef Eigen::Matrix< double, CONTROL_DIM, STATE_DIM >	control_feedback_t
typedef Eigen::Matrix< double, 2 *STATE_DIM, 2 *STATE_DIM >	schur_matrix_t
typedef Eigen::Matrix< double, 2 *STATE_DIM, STATE_DIM >	factor_matrix_t

Public Member Functions
	CARE ()
bool	solve (const state_matrix_t &Q, const control_matrix_t &R, const state_matrix_t &A, const control_gain_matrix_t &B, state_matrix_t &P, bool RisDiagonal, control_matrix_t &R_inverse, bool useIterativeSolver=false)
state_matrix_t	computeSteadyStateRiccatiMatrix (const state_matrix_t &Q, const control_matrix_t &R, const state_matrix_t &A, const control_gain_matrix_t &B, const bool RisDiagonal=false, const bool useIterativeSolver=false)

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef Eigen::Matrix< double, STATE_DIM, STATE_DIM >	state_matrix_t

Detailed Description

template<size_t STATE_DIM, size_t CONTROL_DIM>
class ct::optcon::CARE< STATE_DIM, CONTROL_DIM >

Continuous-Time Algebraic Riccati Equation.

• solves the continuous-time Infinite-Horizon Algebraic Riccati Equation

  Template Parameters

  STATE_DIM	system state dimension
  CONTROL_DIM	system control input dimension

Member Typedef Documentation

control_matrix_t

template<size_t STATE_DIM, size_t CONTROL_DIM>

typedef Eigen::Matrix<double, CONTROL_DIM, CONTROL_DIM> ct::optcon::CARE< STATE_DIM, CONTROL_DIM >::control_matrix_t

control_state_matrix_t

template<size_t STATE_DIM, size_t CONTROL_DIM>

typedef Eigen::Matrix<double, CONTROL_DIM, STATE_DIM> ct::optcon::CARE< STATE_DIM, CONTROL_DIM >::control_state_matrix_t

control_gain_matrix_t

template<size_t STATE_DIM, size_t CONTROL_DIM>

typedef Eigen::Matrix<double, STATE_DIM, CONTROL_DIM> ct::optcon::CARE< STATE_DIM, CONTROL_DIM >::control_gain_matrix_t

control_feedback_t

template<size_t STATE_DIM, size_t CONTROL_DIM>

typedef Eigen::Matrix<double, CONTROL_DIM, STATE_DIM> ct::optcon::CARE< STATE_DIM, CONTROL_DIM >::control_feedback_t

schur_matrix_t

template<size_t STATE_DIM, size_t CONTROL_DIM>

typedef Eigen::Matrix<double, 2 * STATE_DIM, 2 * STATE_DIM> ct::optcon::CARE< STATE_DIM, CONTROL_DIM >::schur_matrix_t

factor_matrix_t

template<size_t STATE_DIM, size_t CONTROL_DIM>

typedef Eigen::Matrix<double, 2 * STATE_DIM, STATE_DIM> ct::optcon::CARE< STATE_DIM, CONTROL_DIM >::factor_matrix_t

Constructor & Destructor Documentation

CARE()

template<size_t STATE_DIM, size_t CONTROL_DIM>

ct::optcon::CARE< STATE_DIM, CONTROL_DIM >::CARE

(

)

References WR.

Member Function Documentation

solve()

template<size_t STATE_DIM, size_t CONTROL_DIM>

bool ct::optcon::CARE< STATE_DIM, CONTROL_DIM >::solve	(	const state_matrix_t &	Q,
		const control_matrix_t &	R,
		const state_matrix_t &	A,
		const control_gain_matrix_t &	B,
		state_matrix_t &	P,
		bool	RisDiagonal,
		control_matrix_t &	R_inverse,
		bool	useIterativeSolver = false
	)

computeSteadyStateRiccatiMatrix()

template<size_t STATE_DIM, size_t CONTROL_DIM>

CARE< STATE_DIM, CONTROL_DIM >::state_matrix_t ct::optcon::CARE< STATE_DIM, CONTROL_DIM >::computeSteadyStateRiccatiMatrix	(	const state_matrix_t &	Q,
		const control_matrix_t &	R,
		const state_matrix_t &	A,
		const control_gain_matrix_t &	B,
		const bool	RisDiagonal = false,
		const bool	useIterativeSolver = false
	)

References i, and WR.

Member Data Documentation

state_matrix_t

template<size_t STATE_DIM, size_t CONTROL_DIM>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef Eigen::Matrix<double, STATE_DIM, STATE_DIM> ct::optcon::CARE< STATE_DIM, CONTROL_DIM >::state_matrix_t

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

• /home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/include/ct/optcon/lqr/riccati/CARE.hpp
• /home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/include/ct/optcon/lqr/riccati/CARE-impl.hpp