#include <sot/torque_control/ddp_pyrene_actuator_solver.hh>
Public Member Functions | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW | DdpPyreneActuatorSolver (const std::string &name) |
DECLARE_SIGNAL_IN (dx_joint_measure, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (pos_des, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (pos_joint_measure, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (tau_des, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (tau, dynamicgraph::Vector) | |
virtual void | display (std::ostream &os) const |
Protected Member Functions | |
void | param_init (const double ×tep, const int &T, const int &nbItMax, const double &stopCriteria) |
void | removeLoad () |
void | setCostGainCommand (const dynamicgraph::Vector &R) |
void | setCostGainState (const dynamicgraph::Vector &Q) |
void | setCostGainStateConstraint (const dynamicgraph::Vector &W) |
void | setCostGainTorqueConstraint (const dynamicgraph::Vector &P) |
void | setJointLimit (const double &upperLim, const double &lowerLim) |
void | setJointVelLimit (const double &upperLim, const double &lowerLim) |
void | setLoadMass (const double &mass) |
void | setLoadParam (const double &mass, const double &coordX, const double &coordY) |
void | setTorqueLimit (const double &tau) |
Protected Attributes | |
CostFunctionPyreneActuator | m_cost |
double | m_dt |
bool | m_initSucceeded |
unsigned int | m_iterMax |
pyreneActuator | m_model |
dynamicgraph::Vector | m_previous_tau |
DDPSolver< double, 2, 1 > | m_solver |
double | m_stopCrit |
unsigned int | m_T |
DDPSolver< double, 2, 1 >::commandVec_t | m_u |
DDPSolver< double, 2, 1 >::stateVec_t | m_zeroState |
Definition at line 47 of file ddp_pyrene_actuator_solver.hh.
DdpPyreneActuatorSolver | ( | const std::string & | name | ) |
Constructor
Definition at line 76 of file ddp_pyrene_actuator_solver.cpp.
References ALL_INPUT_SIGNALS, ALL_OUTPUT_SIGNALS, DdpPyreneActuatorSolver::m_initSucceeded, DdpPyreneActuatorSolver::m_zeroState, DdpPyreneActuatorSolver::param_init(), DdpPyreneActuatorSolver::removeLoad(), RESETDEBUG5, DdpPyreneActuatorSolver::setCostGainCommand(), DdpPyreneActuatorSolver::setCostGainState(), DdpPyreneActuatorSolver::setCostGainStateConstraint(), DdpPyreneActuatorSolver::setCostGainTorqueConstraint(), DdpPyreneActuatorSolver::setJointLimit(), DdpPyreneActuatorSolver::setJointVelLimit(), DdpPyreneActuatorSolver::setLoadMass(), DdpPyreneActuatorSolver::setLoadParam(), and DdpPyreneActuatorSolver::setTorqueLimit().
DECLARE_SIGNAL_IN | ( | dx_joint_measure | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | pos_des | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | pos_joint_measure | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | tau_des | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | tau | , |
dynamicgraph::Vector | |||
) |
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virtual |
Definition at line 291 of file ddp_pyrene_actuator_solver.cpp.
References DdpPyreneActuatorSolver::m_dt, DdpPyreneActuatorSolver::m_iterMax, DdpPyreneActuatorSolver::m_stopCrit, and DdpPyreneActuatorSolver::m_T.
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protected |
Initialize the DDP.
timestep | Control period (in seconds). |
T | Size of the preview window (in nb of timestep). |
nbItMax | Maximum number of iterations. |
stopCriteria | The value of the stopping criteria. |
Definition at line 212 of file ddp_pyrene_actuator_solver.cpp.
References DdpPyreneActuatorSolver::m_cost, DdpPyreneActuatorSolver::m_dt, DdpPyreneActuatorSolver::m_iterMax, DdpPyreneActuatorSolver::m_previous_tau, DdpPyreneActuatorSolver::m_solver, DdpPyreneActuatorSolver::m_stopCrit, DdpPyreneActuatorSolver::m_T, and DdpPyreneActuatorSolver::m_zeroState.
Referenced by DdpPyreneActuatorSolver::DdpPyreneActuatorSolver().
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Definition at line 262 of file ddp_pyrene_actuator_solver.cpp.
References DdpPyreneActuatorSolver::m_model.
Referenced by DdpPyreneActuatorSolver::DdpPyreneActuatorSolver().
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Definition at line 279 of file ddp_pyrene_actuator_solver.cpp.
References DdpPyreneActuatorSolver::m_cost.
Referenced by DdpPyreneActuatorSolver::DdpPyreneActuatorSolver().
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Definition at line 267 of file ddp_pyrene_actuator_solver.cpp.
References DdpPyreneActuatorSolver::m_cost.
Referenced by DdpPyreneActuatorSolver::DdpPyreneActuatorSolver().
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Definition at line 273 of file ddp_pyrene_actuator_solver.cpp.
References DdpPyreneActuatorSolver::m_cost.
Referenced by DdpPyreneActuatorSolver::DdpPyreneActuatorSolver().
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Definition at line 285 of file ddp_pyrene_actuator_solver.cpp.
References DdpPyreneActuatorSolver::m_cost.
Referenced by DdpPyreneActuatorSolver::DdpPyreneActuatorSolver().
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Definition at line 242 of file ddp_pyrene_actuator_solver.cpp.
References DdpPyreneActuatorSolver::m_cost.
Referenced by DdpPyreneActuatorSolver::DdpPyreneActuatorSolver().
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Definition at line 247 of file ddp_pyrene_actuator_solver.cpp.
References DdpPyreneActuatorSolver::m_cost.
Referenced by DdpPyreneActuatorSolver::DdpPyreneActuatorSolver().
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Definition at line 257 of file ddp_pyrene_actuator_solver.cpp.
References DdpPyreneActuatorSolver::m_model.
Referenced by DdpPyreneActuatorSolver::DdpPyreneActuatorSolver().
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Definition at line 252 of file ddp_pyrene_actuator_solver.cpp.
References DdpPyreneActuatorSolver::m_model.
Referenced by DdpPyreneActuatorSolver::DdpPyreneActuatorSolver().
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Definition at line 237 of file ddp_pyrene_actuator_solver.cpp.
References DdpPyreneActuatorSolver::m_cost.
Referenced by DdpPyreneActuatorSolver::DdpPyreneActuatorSolver().
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Definition at line 76 of file ddp_pyrene_actuator_solver.hh.
Referenced by DdpPyreneActuatorSolver::param_init(), DdpPyreneActuatorSolver::setCostGainCommand(), DdpPyreneActuatorSolver::setCostGainState(), DdpPyreneActuatorSolver::setCostGainStateConstraint(), DdpPyreneActuatorSolver::setCostGainTorqueConstraint(), DdpPyreneActuatorSolver::setJointLimit(), DdpPyreneActuatorSolver::setJointVelLimit(), and DdpPyreneActuatorSolver::setTorqueLimit().
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Definition at line 68 of file ddp_pyrene_actuator_solver.hh.
Referenced by DdpPyreneActuatorSolver::display(), and DdpPyreneActuatorSolver::param_init().
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Definition at line 69 of file ddp_pyrene_actuator_solver.hh.
Referenced by DdpPyreneActuatorSolver::DdpPyreneActuatorSolver().
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Definition at line 74 of file ddp_pyrene_actuator_solver.hh.
Referenced by DdpPyreneActuatorSolver::display(), and DdpPyreneActuatorSolver::param_init().
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Definition at line 75 of file ddp_pyrene_actuator_solver.hh.
Referenced by DdpPyreneActuatorSolver::removeLoad(), DdpPyreneActuatorSolver::setLoadMass(), and DdpPyreneActuatorSolver::setLoadParam().
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Definition at line 67 of file ddp_pyrene_actuator_solver.hh.
Referenced by DdpPyreneActuatorSolver::param_init().
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Definition at line 77 of file ddp_pyrene_actuator_solver.hh.
Referenced by DdpPyreneActuatorSolver::param_init().
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Definition at line 73 of file ddp_pyrene_actuator_solver.hh.
Referenced by DdpPyreneActuatorSolver::display(), and DdpPyreneActuatorSolver::param_init().
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Definition at line 72 of file ddp_pyrene_actuator_solver.hh.
Referenced by DdpPyreneActuatorSolver::display(), and DdpPyreneActuatorSolver::param_init().
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Definition at line 71 of file ddp_pyrene_actuator_solver.hh.
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Definition at line 70 of file ddp_pyrene_actuator_solver.hh.
Referenced by DdpPyreneActuatorSolver::DdpPyreneActuatorSolver(), and DdpPyreneActuatorSolver::param_init().