sot-torque-control  1.5.2
DdpPyreneActuatorSolver Class Reference

#include <sot/torque_control/ddp_pyrene_actuator_solver.hh>

Inheritance diagram for DdpPyreneActuatorSolver:
[legend]
Collaboration diagram for DdpPyreneActuatorSolver:
[legend]

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 &timestep, 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
 

Detailed Description

Definition at line 47 of file ddp_pyrene_actuator_solver.hh.

Constructor & Destructor Documentation

◆ DdpPyreneActuatorSolver()

Member Function Documentation

◆ DECLARE_SIGNAL_IN() [1/4]

DECLARE_SIGNAL_IN ( dx_joint_measure  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_IN() [2/4]

DECLARE_SIGNAL_IN ( pos_des  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_IN() [3/4]

DECLARE_SIGNAL_IN ( pos_joint_measure  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_IN() [4/4]

DECLARE_SIGNAL_IN ( tau_des  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_OUT()

DECLARE_SIGNAL_OUT ( tau  ,
dynamicgraph::Vector   
)

◆ display()

◆ param_init()

void param_init ( const double &  timestep,
const int &  T,
const int &  nbItMax,
const double &  stopCriteria 
)
protected

Initialize the DDP.

Parameters
timestepControl period (in seconds).
TSize of the preview window (in nb of timestep).
nbItMaxMaximum number of iterations.
stopCriteriaThe 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().

◆ removeLoad()

void removeLoad ( )
protected

◆ setCostGainCommand()

void setCostGainCommand ( const dynamicgraph::Vector &  R)
protected

◆ setCostGainState()

void setCostGainState ( const dynamicgraph::Vector &  Q)
protected

◆ setCostGainStateConstraint()

void setCostGainStateConstraint ( const dynamicgraph::Vector &  W)
protected

◆ setCostGainTorqueConstraint()

void setCostGainTorqueConstraint ( const dynamicgraph::Vector &  P)
protected

◆ setJointLimit()

void setJointLimit ( const double &  upperLim,
const double &  lowerLim 
)
protected

◆ setJointVelLimit()

void setJointVelLimit ( const double &  upperLim,
const double &  lowerLim 
)
protected

◆ setLoadMass()

void setLoadMass ( const double &  mass)
protected

◆ setLoadParam()

void setLoadParam ( const double &  mass,
const double &  coordX,
const double &  coordY 
)
protected

◆ setTorqueLimit()

void setTorqueLimit ( const double &  tau)
protected

Member Data Documentation

◆ m_cost

◆ m_dt

double m_dt
protected

◆ m_initSucceeded

bool m_initSucceeded
protected

◆ m_iterMax

unsigned int m_iterMax
protected

◆ m_model

◆ m_previous_tau

dynamicgraph::Vector m_previous_tau
protected

Definition at line 67 of file ddp_pyrene_actuator_solver.hh.

Referenced by DdpPyreneActuatorSolver::param_init().

◆ m_solver

DDPSolver<double, 2, 1> m_solver
protected

Definition at line 77 of file ddp_pyrene_actuator_solver.hh.

Referenced by DdpPyreneActuatorSolver::param_init().

◆ m_stopCrit

double m_stopCrit
protected

◆ m_T

unsigned int m_T
protected

◆ m_u

DDPSolver<double, 2, 1>::commandVec_t m_u
protected

Definition at line 71 of file ddp_pyrene_actuator_solver.hh.

◆ m_zeroState

DDPSolver<double, 2, 1>::stateVec_t m_zeroState
protected

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