#include <sot/torque_control/ddp_pyrene_actuator_solver.hh>
◆ DdpPyreneActuatorSolver()
◆ DECLARE_SIGNAL_IN() [1/4]
DECLARE_SIGNAL_IN |
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dx_joint_measure |
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dynamicgraph::Vector |
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◆ DECLARE_SIGNAL_IN() [2/4]
DECLARE_SIGNAL_IN |
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pos_des |
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dynamicgraph::Vector |
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◆ DECLARE_SIGNAL_IN() [3/4]
DECLARE_SIGNAL_IN |
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pos_joint_measure |
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dynamicgraph::Vector |
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◆ DECLARE_SIGNAL_IN() [4/4]
DECLARE_SIGNAL_IN |
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tau_des |
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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 212 of file ddp_pyrene_actuator_solver.cpp.
◆ removeLoad()
◆ setCostGainCommand()
void setCostGainCommand |
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const dynamicgraph::Vector & |
R | ) |
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◆ setCostGainState()
void setCostGainState |
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const dynamicgraph::Vector & |
Q | ) |
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◆ setCostGainStateConstraint()
void setCostGainStateConstraint |
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const dynamicgraph::Vector & |
W | ) |
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◆ setCostGainTorqueConstraint()
void setCostGainTorqueConstraint |
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const dynamicgraph::Vector & |
P | ) |
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◆ setJointLimit()
void setJointLimit |
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const double & |
upperLim, |
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const double & |
lowerLim |
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◆ setJointVelLimit()
void setJointVelLimit |
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const double & |
upperLim, |
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const double & |
lowerLim |
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◆ setLoadMass()
void setLoadMass |
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const double & |
mass | ) |
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◆ setLoadParam()
void setLoadParam |
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const double & |
mass, |
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const double & |
coordX, |
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const double & |
coordY |
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◆ setTorqueLimit()
void setTorqueLimit |
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const double & |
tau | ) |
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◆ m_cost
CostFunctionPyreneActuator m_cost |
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◆ m_dt
◆ m_initSucceeded
◆ m_iterMax
◆ m_model
◆ m_previous_tau
dynamicgraph::Vector m_previous_tau |
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◆ m_solver
DDPSolver<double, 2, 1> m_solver |
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◆ m_stopCrit
◆ m_T
◆ m_u
DDPSolver<double, 2, 1>::commandVec_t m_u |
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◆ m_zeroState
DDPSolver<double, 2, 1>::stateVec_t m_zeroState |
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The documentation for this class was generated from the following files: