- 3.0.2 optimal control module.
Public Types | Public Member Functions | Public Attributes | List of all members
ct::optcon::DynamicRiccatiEquation< STATE_DIM, CONTROL_DIM, SCALAR > Class Template Reference
LQR

Dynamic Riccati Equation. More...

#include <DynamicRiccatiEquation.hpp>

Public Types

typedef Eigen::Matrix< SCALAR, CONTROL_DIM, CONTROL_DIM > control_matrix_t
 
typedef Eigen::Matrix< SCALAR, CONTROL_DIM, 1 > control_vector_t
 
typedef Eigen::Matrix< SCALAR, CONTROL_DIM, STATE_DIM > control_state_matrix_t
 
typedef Eigen::Matrix< SCALAR, STATE_DIM, CONTROL_DIM > control_gain_matrix_t
 
typedef Eigen::Matrix< SCALAR, CONTROL_DIM, STATE_DIM > control_feedback_t
 

Public Member Functions

 DynamicRiccatiEquation ()
 
 ~DynamicRiccatiEquation ()
 
void iterateNaive (const state_matrix_t &Q_n, const control_matrix_t &R_n, const state_matrix_t &A_n, const control_gain_matrix_t &B_n, state_matrix_t &P_np1, control_feedback_t &K_n)
 
void iterateRobust (const state_matrix_t &Q_n, const control_matrix_t &R_n, const state_matrix_t &A_n, const control_gain_matrix_t &B_n, state_matrix_t &P_np1, control_feedback_t &K_n)
 

Public Attributes

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef Eigen::Matrix< SCALAR, STATE_DIM, STATE_DIM > state_matrix_t
 

Detailed Description

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>
class ct::optcon::DynamicRiccatiEquation< STATE_DIM, CONTROL_DIM, SCALAR >

Dynamic Riccati Equation.

  • solves the Dynamic Algebraic Riccati Equation

    Template Parameters
    STATE_DIMthe system state dimension
    CONTROL_DIMthe system control input dimension

Member Typedef Documentation

◆ control_matrix_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>
typedef Eigen::Matrix<SCALAR, CONTROL_DIM, CONTROL_DIM> ct::optcon::DynamicRiccatiEquation< STATE_DIM, CONTROL_DIM, SCALAR >::control_matrix_t

◆ control_vector_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>
typedef Eigen::Matrix<SCALAR, CONTROL_DIM, 1> ct::optcon::DynamicRiccatiEquation< STATE_DIM, CONTROL_DIM, SCALAR >::control_vector_t

◆ control_state_matrix_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>
typedef Eigen::Matrix<SCALAR, CONTROL_DIM, STATE_DIM> ct::optcon::DynamicRiccatiEquation< STATE_DIM, CONTROL_DIM, SCALAR >::control_state_matrix_t

◆ control_gain_matrix_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>
typedef Eigen::Matrix<SCALAR, STATE_DIM, CONTROL_DIM> ct::optcon::DynamicRiccatiEquation< STATE_DIM, CONTROL_DIM, SCALAR >::control_gain_matrix_t

◆ control_feedback_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>
typedef Eigen::Matrix<SCALAR, CONTROL_DIM, STATE_DIM> ct::optcon::DynamicRiccatiEquation< STATE_DIM, CONTROL_DIM, SCALAR >::control_feedback_t

Constructor & Destructor Documentation

◆ DynamicRiccatiEquation()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>
ct::optcon::DynamicRiccatiEquation< STATE_DIM, CONTROL_DIM, SCALAR >::DynamicRiccatiEquation ( )
inline

◆ ~DynamicRiccatiEquation()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>
ct::optcon::DynamicRiccatiEquation< STATE_DIM, CONTROL_DIM, SCALAR >::~DynamicRiccatiEquation ( )
inline

Member Function Documentation

◆ iterateNaive()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>
void ct::optcon::DynamicRiccatiEquation< STATE_DIM, CONTROL_DIM, SCALAR >::iterateNaive ( const state_matrix_t &  Q_n,
const control_matrix_t &  R_n,
const state_matrix_t &  A_n,
const control_gain_matrix_t &  B_n,
state_matrix_t &  P_np1,
control_feedback_t &  K_n 
)
inline

◆ iterateRobust()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>
void ct::optcon::DynamicRiccatiEquation< STATE_DIM, CONTROL_DIM, SCALAR >::iterateRobust ( const state_matrix_t &  Q_n,
const control_matrix_t &  R_n,
const state_matrix_t &  A_n,
const control_gain_matrix_t &  B_n,
state_matrix_t &  P_np1,
control_feedback_t &  K_n 
)
inline

Member Data Documentation

◆ state_matrix_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef Eigen::Matrix<SCALAR, STATE_DIM, STATE_DIM> ct::optcon::DynamicRiccatiEquation< STATE_DIM, CONTROL_DIM, SCALAR >::state_matrix_t
The documentation for this class was generated from the following file: