30#ifndef _OPTIMAL_CONTROLLER_SOLVER_H_
31#define _OPTIMAL_CONTROLLER_SOLVER_H_
151 Eigen::MatrixXd &
c,
double Q,
double R,
167 void GetF(Eigen::MatrixXd &LF);
170 void GetK(Eigen::MatrixXd &LK);
173 typedef Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>
202 Eigen::VectorXd &alphai, Eigen::VectorXd &beta,
This class computes the gains for preview control for a given discrete system. The discrete system is...
Definition OptimalControllerSolver.hh:144
void DisplayWeights()
Definition OptimalControllerSolver.cpp:314
static const unsigned int MODE_WITHOUT_INITIALPOS
Definition OptimalControllerSolver.hh:146
static const unsigned int MODE_WITH_INITIALPOS
Definition OptimalControllerSolver.hh:147
double m_Q
Definition OptimalControllerSolver.hh:192
MatrixRXd m_c
Definition OptimalControllerSolver.hh:185
~OptimalControllerSolver()
Definition OptimalControllerSolver.cpp:113
MatrixRXd m_b
Definition OptimalControllerSolver.hh:184
bool GeneralizedSchur(MatrixRXd &A, MatrixRXd &B, Eigen::VectorXd &alphar, Eigen::VectorXd &alphai, Eigen::VectorXd &beta, MatrixRXd &L, MatrixRXd &R)
Definition OptimalControllerSolver.cpp:115
double m_R
Definition OptimalControllerSolver.hh:192
void GetF(Eigen::MatrixXd &LF)
Definition OptimalControllerSolver.cpp:319
void GetK(Eigen::MatrixXd &LK)
Definition OptimalControllerSolver.cpp:321
Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > MatrixRXd
Definition OptimalControllerSolver.hh:174
MatrixRXd m_F
Definition OptimalControllerSolver.hh:196
MatrixRXd m_K
Definition OptimalControllerSolver.hh:195
MatrixRXd m_A
Definition OptimalControllerSolver.hh:183
int m_Nl
Definition OptimalControllerSolver.hh:199
void ComputeWeights(unsigned int Mode)
Definition OptimalControllerSolver.cpp:170
\doc Simulate a rigid body
Definition patterngeneratorinterface.hh:41
doublereal * b
Definition qld.cpp:386
doublereal * c
Definition qld.cpp:386