gcop::Body3dAvoidController< nu > Class Template Reference

#include <body3davoidcontroller.h>

Inheritance diagram for gcop::Body3dAvoidController< nu >:

Collaboration diagram for gcop::Body3dAvoidController< nu >:

List of all members.

Public Types
typedef Matrix< double, nu, 1 >	Vectorcd
typedef Matrix< double, 5, 1 >	Vector5d
Public Member Functions
	Body3dAvoidController (const Body3d< nu > &sys, Body3dState *xd=0, Vector6d *ad=0, Body3dConstraint *con=0)
virtual bool	Set (Vectorcd &u, double t, const Body3dState &x)
virtual bool	SetParams (const Vector5d &s)
virtual bool	SetContext (const Body3dState &c)
Public Attributes
Body3dController< nu >	stabCtrl
GavoidController *	avoidCtrl

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Detailed Description

template<int nu = 6>
class gcop::Body3dAvoidController< nu >

Controller combining rigid body stablization and gyroscopic avoidance This basically combines two existing controller from DGC. The controller has 5 parameters s containing: rot_Kp, rot_Kd, trans_Kp, trans_Kd, obst_K

Author: Marin Kobilarov, 2015

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Member Typedef Documentation

template<int nu = 6>

typedef Matrix<double, 5, 1> gcop::Body3dAvoidController< nu >::Vector5d

template<int nu = 6>

typedef Matrix<double, nu, 1> gcop::Body3dAvoidController< nu >::Vectorcd

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Constructor & Destructor Documentation

template<int nu>

gcop::Body3dAvoidController< nu >::Body3dAvoidController	(	const Body3d< nu > &	sys,
		Body3dState *	xd = 0,
		Vector6d *	ad = 0,
		Body3dConstraint *	con = 0
	)

BODY3D PD controller

Parameters:

sys	system
xd	desired state (optional, set to origin by default)
ad	desired acceleration (optional, set to zero by default)
con	obstacle constraint (optional)

References gcop::Body3dAvoidController< nu >::avoidCtrl.

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Member Function Documentation

template<int nu = 6>

virtual bool gcop::Body3dAvoidController< nu >::Set	(	Vectorcd &	u,
		double	t,
		const Body3dState &	x
	)		[virtual]

Feedback controller of the form u = k(t, x)

Parameters:

u	controls
t	time
x	state

Returns:

true if arguments are valid, false if e.g. x is infeasible

Implements gcop::Controller< Body3dState, Matrix< double, nu, 1 >, Matrix< double, 5, 1 >, Body3dState >.

template<int nu>

bool gcop::Body3dAvoidController< nu >::SetContext

(

const Body3dState &

c

)

[virtual]

Set context

Returns:

true if arguments are valid, false if e.g. s is infeasible

Reimplemented from gcop::Controller< Body3dState, Matrix< double, nu, 1 >, Matrix< double, 5, 1 >, Body3dState >.

template<int nu>

bool gcop::Body3dAvoidController< nu >::SetParams

(

const Vector5d &

s

)

[virtual]

Set controller parameters

Returns:

true if arguments are valid, false if e.g. s is infeasible

Reimplemented from gcop::Controller< Body3dState, Matrix< double, nu, 1 >, Matrix< double, 5, 1 >, Body3dState >.

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Member Data Documentation

template<int nu = 6>

GavoidController* gcop::Body3dAvoidController< nu >::avoidCtrl

Referenced by gcop::Body3dAvoidController< nu >::Body3dAvoidController().

template<int nu = 6>

Body3dController<nu> gcop::Body3dAvoidController< nu >::stabCtrl

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

• lib/algos/body3davoidcontroller.h