ct::rbd::InfiniteHorizonLQRwithInverseDynamics< RBDDynamics > Class Template Reference

#include <InfiniteHorizonLQRwithInverseDynamics.h>

Inheritance diagram for ct::rbd::InfiniteHorizonLQRwithInverseDynamics< RBDDynamics >:

Public Types
typedef RBDDynamics::SCALAR	SCALAR
typedef RBDDynamics::control_vector_t	control_vector_t
typedef RBDDynamics::state_vector_t	state_vector_t
typedef RBDDynamics::JointAcceleration_t	JointAcceleration_t
typedef core::StateMatrix< RBDDynamics::NSTATE, SCALAR >	state_matrix_t
typedef core::StateMatrix< RBDDynamics::NJOINTS, SCALAR >	control_matrix_t
typedef core::StateControlMatrix< RBDDynamics::NSTATE, RBDDynamics::NJOINTS, SCALAR >	state_control_matrix_t
typedef core::FeedbackMatrix< RBDDynamics::NSTATE, RBDDynamics::NJOINTS, SCALAR >	feedback_matrix_t

Public Member Functions
	InfiniteHorizonLQRwithInverseDynamics ()
	InfiniteHorizonLQRwithInverseDynamics (std::shared_ptr< ct::rbd::FixBaseFDSystem< RBDDynamics >> system, std::shared_ptr< ct::core::LinearSystem< 2 *(RBDDynamics::NJOINTS), RBDDynamics::NJOINTS >> linearSystem)
	InfiniteHorizonLQRwithInverseDynamics (const InfiniteHorizonLQRwithInverseDynamics &arg)
virtual	~InfiniteHorizonLQRwithInverseDynamics ()
virtual InfiniteHorizonLQRwithInverseDynamics *	clone () const override
virtual void	computeControl (const ct::core::StateVector< RBDDynamics::NSTATE, SCALAR > &state, const ct::core::Time &t, ct::core::ControlVector< RBDDynamics::NJOINTS, SCALAR > &controlAction) override
const feedback_matrix_t &	getK ()
bool	designInfiniteHorizonLQR (const state_vector_t &stateSetpoint, const state_matrix_t &Q_stab, const control_matrix_t &R_stab, feedback_matrix_t &K)
bool	designInfiniteHorizonLQR (const state_vector_t &stateSetpoint, const state_matrix_t &Q_stab, const control_matrix_t &R_stab)
const control_vector_t &	getIDTorques () const
const state_vector_t &	getStateSetpoint () const
void	setNonlinearSystem (std::shared_ptr< ct::rbd::FixBaseFDSystem< RBDDynamics >> system)
void	setLinearSystem (std::shared_ptr< ct::core::LinearSystem< 2 *(RBDDynamics::NJOINTS), RBDDynamics::NJOINTS >> system)
Public Member Functions inherited from ct::core::Controller< RBDDynamics::NSTATE, RBDDynamics::NJOINTS >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	Controller ()
	Controller (const Controller &other)
virtual	~Controller ()
virtual void	computeControl (const StateVector< RBDDynamics::NSTATE, SCALAR > &state, const SCALAR &t, ControlVector< RBDDynamics::NJOINTS, SCALAR > &controlAction)=0
virtual ControlMatrix< RBDDynamics::NJOINTS, SCALAR >	getDerivativeU0 (const StateVector< RBDDynamics::NSTATE, SCALAR > &state, const SCALAR time)
virtual ControlMatrix< RBDDynamics::NJOINTS, SCALAR >	getDerivativeUf (const StateVector< RBDDynamics::NSTATE, SCALAR > &state, const SCALAR time)

Member Typedef Documentation

SCALAR

template<class RBDDynamics>

typedef RBDDynamics::SCALAR ct::rbd::InfiniteHorizonLQRwithInverseDynamics< RBDDynamics >::SCALAR

control_vector_t

template<class RBDDynamics>

typedef RBDDynamics::control_vector_t ct::rbd::InfiniteHorizonLQRwithInverseDynamics< RBDDynamics >::control_vector_t

state_vector_t

template<class RBDDynamics>

typedef RBDDynamics::state_vector_t ct::rbd::InfiniteHorizonLQRwithInverseDynamics< RBDDynamics >::state_vector_t

JointAcceleration_t

template<class RBDDynamics>

typedef RBDDynamics::JointAcceleration_t ct::rbd::InfiniteHorizonLQRwithInverseDynamics< RBDDynamics >::JointAcceleration_t

state_matrix_t

template<class RBDDynamics>

typedef core::StateMatrix<RBDDynamics::NSTATE, SCALAR> ct::rbd::InfiniteHorizonLQRwithInverseDynamics< RBDDynamics >::state_matrix_t

control_matrix_t

template<class RBDDynamics>

typedef core::StateMatrix<RBDDynamics::NJOINTS, SCALAR> ct::rbd::InfiniteHorizonLQRwithInverseDynamics< RBDDynamics >::control_matrix_t

state_control_matrix_t

template<class RBDDynamics>

typedef core::StateControlMatrix<RBDDynamics::NSTATE, RBDDynamics::NJOINTS, SCALAR> ct::rbd::InfiniteHorizonLQRwithInverseDynamics< RBDDynamics >::state_control_matrix_t

feedback_matrix_t

template<class RBDDynamics>

typedef core::FeedbackMatrix<RBDDynamics::NSTATE, RBDDynamics::NJOINTS, SCALAR> ct::rbd::InfiniteHorizonLQRwithInverseDynamics< RBDDynamics >::feedback_matrix_t

Constructor & Destructor Documentation

InfiniteHorizonLQRwithInverseDynamics() [1/3]

template<class RBDDynamics>

ct::rbd::InfiniteHorizonLQRwithInverseDynamics< RBDDynamics >::InfiniteHorizonLQRwithInverseDynamics ( )

inline

InfiniteHorizonLQRwithInverseDynamics() [2/3]

template<class RBDDynamics>

ct::rbd::InfiniteHorizonLQRwithInverseDynamics< RBDDynamics >::InfiniteHorizonLQRwithInverseDynamics ( std::shared_ptr< ct::rbd::FixBaseFDSystem< RBDDynamics >>  system, std::shared_ptr< ct::core::LinearSystem< 2 *(RBDDynamics::NJOINTS), RBDDynamics::NJOINTS >>  linearSystem  )

inline

InfiniteHorizonLQRwithInverseDynamics() [3/3]

template<class RBDDynamics>

ct::rbd::InfiniteHorizonLQRwithInverseDynamics< RBDDynamics >::InfiniteHorizonLQRwithInverseDynamics ( const InfiniteHorizonLQRwithInverseDynamics< RBDDynamics > &  arg )

inline

~InfiniteHorizonLQRwithInverseDynamics()

template<class RBDDynamics>

virtual ct::rbd::InfiniteHorizonLQRwithInverseDynamics< RBDDynamics >::~InfiniteHorizonLQRwithInverseDynamics ( )

inlinevirtual

Member Function Documentation

clone()

template<class RBDDynamics>

virtual InfiniteHorizonLQRwithInverseDynamics* ct::rbd::InfiniteHorizonLQRwithInverseDynamics< RBDDynamics >::clone ( ) const

inlineoverridevirtual

Implements ct::core::Controller< RBDDynamics::NSTATE, RBDDynamics::NJOINTS >.

computeControl()

template<class RBDDynamics>

virtual void ct::rbd::InfiniteHorizonLQRwithInverseDynamics< RBDDynamics >::computeControl ( const ct::core::StateVector< RBDDynamics::NSTATE, SCALAR > &  state, const ct::core::Time &  t, ct::core::ControlVector< RBDDynamics::NJOINTS, SCALAR > &  controlAction  )

inlineoverridevirtual

getK()

template<class RBDDynamics>

const feedback_matrix_t& ct::rbd::InfiniteHorizonLQRwithInverseDynamics< RBDDynamics >::getK ( )

inline

designInfiniteHorizonLQR() [1/2]

template<class RBDDynamics>

bool ct::rbd::InfiniteHorizonLQRwithInverseDynamics< RBDDynamics >::designInfiniteHorizonLQR ( const state_vector_t &  stateSetpoint, const state_matrix_t &  Q_stab, const control_matrix_t &  R_stab, feedback_matrix_t &  K  )

inline

References ct::optcon::LQR< STATE_DIM, CONTROL_DIM >::compute().

Referenced by ct::rbd::InfiniteHorizonLQRwithInverseDynamics< RBDDynamics >::designInfiniteHorizonLQR().

designInfiniteHorizonLQR() [2/2]

template<class RBDDynamics>

bool ct::rbd::InfiniteHorizonLQRwithInverseDynamics< RBDDynamics >::designInfiniteHorizonLQR ( const state_vector_t &  stateSetpoint, const state_matrix_t &  Q_stab, const control_matrix_t &  R_stab  )

inline

References ct::rbd::InfiniteHorizonLQRwithInverseDynamics< RBDDynamics >::designInfiniteHorizonLQR().

getIDTorques()

template<class RBDDynamics>

const control_vector_t& ct::rbd::InfiniteHorizonLQRwithInverseDynamics< RBDDynamics >::getIDTorques ( ) const

inline

getStateSetpoint()

template<class RBDDynamics>

const state_vector_t& ct::rbd::InfiniteHorizonLQRwithInverseDynamics< RBDDynamics >::getStateSetpoint ( ) const

inline

setNonlinearSystem()

template<class RBDDynamics>

void ct::rbd::InfiniteHorizonLQRwithInverseDynamics< RBDDynamics >::setNonlinearSystem ( std::shared_ptr< ct::rbd::FixBaseFDSystem< RBDDynamics >>  system )

inline

setLinearSystem()

template<class RBDDynamics>

void ct::rbd::InfiniteHorizonLQRwithInverseDynamics< RBDDynamics >::setLinearSystem ( std::shared_ptr< ct::core::LinearSystem< 2 *(RBDDynamics::NJOINTS), RBDDynamics::NJOINTS >>  system )

inline

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

• /home/gim2rng/ct_devel_ws/src/control-toolbox/ct_rbd/include/ct/rbd/robot/control/InfiniteHorizonLQRwithInverseDynamics.h