#include <sot/torque_control/ddp-actuator-solver.hh>
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void | param_init (const double ×tep, const int &T, const int &nbItMax, const double &stopCriteria) |
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double | m_ambiant_temperature |
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CostTemp | m_cost |
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double | m_dt |
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unsigned int | m_iterMax |
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DCTemp | m_model |
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DDPSolver< double, 5, 1 > | m_solver |
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double | m_stopCrit |
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unsigned int | m_T |
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DDPSolver< double, 5, 1 >::commandVec_t | m_u |
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DDPSolver< double, 5, 1 >::stateVec_t | m_x |
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DDPSolver< double, 5, 1 >::stateVec_t | m_xDes |
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DDPSolver< double, 5, 1 >::stateVec_t | m_xinit |
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DDPSolver< double, 5, 1 >::stateVec_t | m_zeroState |
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Definition at line 39 of file ddp-actuator-solver.hh.
◆ DdpActuatorSolver()
◆ DECLARE_SIGNAL_IN() [1/7]
DECLARE_SIGNAL_IN |
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dx_measure |
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dynamicgraph::Vector |
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◆ DECLARE_SIGNAL_IN() [2/7]
DECLARE_SIGNAL_IN |
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pos_des |
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dynamicgraph::Vector |
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◆ DECLARE_SIGNAL_IN() [3/7]
DECLARE_SIGNAL_IN |
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pos_joint_measure |
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dynamicgraph::Vector |
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◆ DECLARE_SIGNAL_IN() [4/7]
DECLARE_SIGNAL_IN |
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pos_motor_measure |
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dynamicgraph::Vector |
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◆ DECLARE_SIGNAL_IN() [5/7]
DECLARE_SIGNAL_IN |
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tau_des |
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dynamicgraph::Vector |
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◆ DECLARE_SIGNAL_IN() [6/7]
DECLARE_SIGNAL_IN |
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tau_measure |
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dynamicgraph::Vector |
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◆ DECLARE_SIGNAL_IN() [7/7]
DECLARE_SIGNAL_IN |
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temp_measure |
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dynamicgraph::Vector |
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◆ DECLARE_SIGNAL_OUT()
DECLARE_SIGNAL_OUT |
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tau |
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dynamicgraph::Vector |
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◆ display()
void display |
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std::ostream & |
os | ) |
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◆ param_init()
void param_init |
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const double & |
timestep, |
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const int & |
T, |
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const int & |
nbItMax, |
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const double & |
stopCriteria |
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Initialize the DDP.
- Parameters
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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.
◆ m_ambiant_temperature
double m_ambiant_temperature |
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◆ m_cost
◆ m_dt
◆ m_iterMax
◆ m_model
◆ m_solver
DDPSolver<double, 5, 1> m_solver |
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◆ m_stopCrit
◆ m_T
◆ m_u
DDPSolver<double, 5, 1>::commandVec_t m_u |
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◆ m_x
DDPSolver<double, 5, 1>::stateVec_t m_x |
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◆ m_xDes
DDPSolver<double, 5, 1>::stateVec_t m_xDes |
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◆ m_xinit
DDPSolver<double, 5, 1>::stateVec_t m_xinit |
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◆ m_zeroState
DDPSolver<double, 5, 1>::stateVec_t m_zeroState |
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The documentation for this class was generated from the following files: