sot-torque-control  1.6.0
Collection of dynamic-graph entities aimed at implementing torque control on different robots.
Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
DdpActuatorSolver Class Reference

#include <sot/torque_control/ddp-actuator-solver.hh>

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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 &timestep, 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
 

Detailed Description

Definition at line 39 of file ddp-actuator-solver.hh.

Constructor & Destructor Documentation

◆ DdpActuatorSolver()

DdpActuatorSolver ( const std::string &  name)

Constructor

Definition at line 64 of file ddp-actuator-solver.cpp.

Member Function Documentation

◆ DECLARE_SIGNAL_IN() [1/7]

DECLARE_SIGNAL_IN ( dx_measure  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_IN() [2/7]

DECLARE_SIGNAL_IN ( pos_des  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_IN() [3/7]

DECLARE_SIGNAL_IN ( pos_joint_measure  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_IN() [4/7]

DECLARE_SIGNAL_IN ( pos_motor_measure  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_IN() [5/7]

DECLARE_SIGNAL_IN ( tau_des  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_IN() [6/7]

DECLARE_SIGNAL_IN ( tau_measure  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_IN() [7/7]

DECLARE_SIGNAL_IN ( temp_measure  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_OUT()

DECLARE_SIGNAL_OUT ( tau  ,
dynamicgraph::Vector   
)

◆ display()

void display ( std::ostream &  os) const
virtual

Definition at line 157 of file ddp-actuator-solver.cpp.

◆ 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 148 of file ddp-actuator-solver.cpp.

Member Data Documentation

◆ m_ambiant_temperature

double m_ambiant_temperature
protected

Definition at line 54 of file ddp-actuator-solver.hh.

◆ m_cost

CostTemp m_cost
protected

Definition at line 58 of file ddp-actuator-solver.hh.

◆ m_dt

double m_dt
protected

Definition at line 53 of file ddp-actuator-solver.hh.

◆ m_iterMax

unsigned int m_iterMax
protected

Definition at line 62 of file ddp-actuator-solver.hh.

◆ m_model

DCTemp m_model
protected

Definition at line 57 of file ddp-actuator-solver.hh.

◆ m_solver

DDPSolver<double, 5, 1> m_solver
protected

Definition at line 59 of file ddp-actuator-solver.hh.

◆ m_stopCrit

double m_stopCrit
protected

Definition at line 61 of file ddp-actuator-solver.hh.

◆ m_T

unsigned int m_T
protected

Definition at line 60 of file ddp-actuator-solver.hh.

◆ m_u

DDPSolver<double, 5, 1>::commandVec_t m_u
protected

Definition at line 56 of file ddp-actuator-solver.hh.

◆ m_x

DDPSolver<double, 5, 1>::stateVec_t m_x
protected

Definition at line 55 of file ddp-actuator-solver.hh.

◆ m_xDes

DDPSolver<double, 5, 1>::stateVec_t m_xDes
protected

Definition at line 55 of file ddp-actuator-solver.hh.

◆ m_xinit

DDPSolver<double, 5, 1>::stateVec_t m_xinit
protected

Definition at line 55 of file ddp-actuator-solver.hh.

◆ m_zeroState

DDPSolver<double, 5, 1>::stateVec_t m_zeroState
protected

Definition at line 55 of file ddp-actuator-solver.hh.

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