#include <sot/torque_control/ddp-actuator-solver.hh>
Public Member Functions | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW | DdpActuatorSolver (const std::string &name) |
DECLARE_SIGNAL_IN (dx_measure, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (pos_des, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (pos_joint_measure, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (pos_motor_measure, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (tau_des, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (tau_measure, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (temp_measure, 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) |
Protected Attributes | |
double | m_ambiant_temperature |
CostTemp | m_cost |
double | m_dt |
unsigned int | m_iterMax |
DCTemp | m_model |
DDPSolver< double, 5, 1 > | m_solver |
double | m_stopCrit |
unsigned int | m_T |
DDPSolver< double, 5, 1 >::commandVec_t | m_u |
DDPSolver< double, 5, 1 >::stateVec_t | m_x |
DDPSolver< double, 5, 1 >::stateVec_t | m_xDes |
DDPSolver< double, 5, 1 >::stateVec_t | m_xinit |
DDPSolver< double, 5, 1 >::stateVec_t | m_zeroState |
Definition at line 39 of file ddp-actuator-solver.hh.
DdpActuatorSolver | ( | const std::string & | name | ) |
Constructor
Definition at line 64 of file ddp-actuator-solver.cpp.
References ALL_INPUT_SIGNALS, ALL_OUTPUT_SIGNALS, DdpActuatorSolver::m_zeroState, DdpActuatorSolver::param_init(), and RESETDEBUG5.
DECLARE_SIGNAL_IN | ( | dx_measure | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | pos_des | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | pos_joint_measure | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | pos_motor_measure | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | tau_des | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | tau_measure | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | temp_measure | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | tau | , |
dynamicgraph::Vector | |||
) |
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virtual |
Definition at line 157 of file ddp-actuator-solver.cpp.
References DdpActuatorSolver::m_dt, DdpActuatorSolver::m_iterMax, DdpActuatorSolver::m_stopCrit, and DdpActuatorSolver::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 148 of file ddp-actuator-solver.cpp.
References DdpActuatorSolver::m_dt, DdpActuatorSolver::m_iterMax, DdpActuatorSolver::m_solver, DdpActuatorSolver::m_stopCrit, DdpActuatorSolver::m_T, and DdpActuatorSolver::m_zeroState.
Referenced by DdpActuatorSolver::DdpActuatorSolver().
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Definition at line 54 of file ddp-actuator-solver.hh.
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Definition at line 58 of file ddp-actuator-solver.hh.
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Definition at line 53 of file ddp-actuator-solver.hh.
Referenced by DdpActuatorSolver::display(), and DdpActuatorSolver::param_init().
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Definition at line 62 of file ddp-actuator-solver.hh.
Referenced by DdpActuatorSolver::display(), and DdpActuatorSolver::param_init().
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Definition at line 57 of file ddp-actuator-solver.hh.
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Definition at line 59 of file ddp-actuator-solver.hh.
Referenced by DdpActuatorSolver::param_init().
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Definition at line 61 of file ddp-actuator-solver.hh.
Referenced by DdpActuatorSolver::display(), and DdpActuatorSolver::param_init().
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Definition at line 60 of file ddp-actuator-solver.hh.
Referenced by DdpActuatorSolver::display(), and DdpActuatorSolver::param_init().
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Definition at line 56 of file ddp-actuator-solver.hh.
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Definition at line 55 of file ddp-actuator-solver.hh.
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Definition at line 55 of file ddp-actuator-solver.hh.
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Definition at line 55 of file ddp-actuator-solver.hh.
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Definition at line 55 of file ddp-actuator-solver.hh.
Referenced by DdpActuatorSolver::DdpActuatorSolver(), and DdpActuatorSolver::param_init().