30 #ifndef _OPTIMAL_CONTROLLER_SOLVER_H_
31 #define _OPTIMAL_CONTROLLER_SOLVER_H_
33 #include <Eigen/Dense>
151 Eigen::MatrixXd &
c,
double Q,
double R,
167 void GetF(Eigen::MatrixXd &LF);
170 void GetK(Eigen::MatrixXd &LK);
173 typedef Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>
202 Eigen::VectorXd &alphai, Eigen::VectorXd &beta,
This class computes the gains for preview control for a given discrete system. The discrete system is...
Definition: OptimalControllerSolver.hh:144
void DisplayWeights()
Definition: OptimalControllerSolver.cpp:324
static const unsigned int MODE_WITHOUT_INITIALPOS
Definition: OptimalControllerSolver.hh:146
static const unsigned int MODE_WITH_INITIALPOS
Definition: OptimalControllerSolver.hh:147
double m_Q
Definition: OptimalControllerSolver.hh:192
MatrixRXd m_c
Definition: OptimalControllerSolver.hh:185
~OptimalControllerSolver()
Definition: OptimalControllerSolver.cpp:117
MatrixRXd m_b
Definition: OptimalControllerSolver.hh:184
bool GeneralizedSchur(MatrixRXd &A, MatrixRXd &B, Eigen::VectorXd &alphar, Eigen::VectorXd &alphai, Eigen::VectorXd &beta, MatrixRXd &L, MatrixRXd &R)
Definition: OptimalControllerSolver.cpp:119
double m_R
Definition: OptimalControllerSolver.hh:192
void GetF(Eigen::MatrixXd &LF)
Definition: OptimalControllerSolver.cpp:329
void GetK(Eigen::MatrixXd &LK)
Definition: OptimalControllerSolver.cpp:331
Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > MatrixRXd
Definition: OptimalControllerSolver.hh:174
MatrixRXd m_F
Definition: OptimalControllerSolver.hh:196
MatrixRXd m_K
Definition: OptimalControllerSolver.hh:195
OptimalControllerSolver(Eigen::MatrixXd &A, Eigen::MatrixXd &b, Eigen::MatrixXd &c, double Q, double R, unsigned int Nl)
Definition: OptimalControllerSolver.cpp:93
MatrixRXd m_A
Definition: OptimalControllerSolver.hh:183
int m_Nl
Definition: OptimalControllerSolver.hh:199
void ComputeWeights(unsigned int Mode)
Definition: OptimalControllerSolver.cpp:177
\doc Simulate a rigid body
Definition: patterngeneratorinterface.hh:41
doublereal * b
Definition: qld.cpp:386
doublereal * c
Definition: qld.cpp:386