gcop::Body3dController< c > Class Template Reference

#include <body3dcontroller.h>

Inheritance diagram for gcop::Body3dController< c >:

Collaboration diagram for gcop::Body3dController< c >:

List of all members.

Public Types
typedef Matrix< double, c, 1 >	Vectorcd
Public Member Functions
	Body3dController (const Body3d< c > &sys, Body3dState *xd=0, Vector6d *ad=0)
virtual bool	Set (Vectorcd &u, double t, const Body3dState &x)
virtual	~Body3dController ()
Public Attributes
const Body3d< c > &	sys
	system
Body3dState *	xd
	desired state (origin by default)
Vector6d *	ad
	desired acceleration (zero by default)
Vector6d	Kp
	proportional terms (ones by default)
Vector6d	Kd
	derivative terms (twos by default)

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Detailed Description

template<int c = 6>
class gcop::Body3dController< c >

Rigid body PD controller using errors on

Author: Marin Kobilarov, 2007

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Member Typedef Documentation

template<int c = 6>

typedef Matrix<double, c, 1> gcop::Body3dController< c >::Vectorcd

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Constructor & Destructor Documentation

template<int c>

gcop::Body3dController< c >::Body3dController	(	const Body3d< c > &	sys,
		Body3dState *	xd = 0,
		Vector6d *	ad = 0
	)

BODY3D PD controller

Parameters:

sys	multi-body system
xd	desired state (optional, set to origin by default)
ad	desired acceleration (optional, set to zero by default)

References gcop::Body3dController< c >::Kd, and gcop::Body3dController< c >::Kp.

template<int c>

gcop::Body3dController< c >::~Body3dController

(

)

[virtual]

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Member Function Documentation

template<int c = 6>

virtual bool gcop::Body3dController< c >::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, c, 1 > >.

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Member Data Documentation

template<int c = 6>

Vector6d* gcop::Body3dController< c >::ad

desired acceleration (zero by default)

template<int c = 6>

Vector6d gcop::Body3dController< c >::Kd

derivative terms (twos by default)

Referenced by gcop::Body3dController< c >::Body3dController().

template<int c = 6>

Vector6d gcop::Body3dController< c >::Kp

proportional terms (ones by default)

Referenced by gcop::Body3dController< c >::Body3dController().

template<int c = 6>

const Body3d<c>& gcop::Body3dController< c >::sys

system

template<int c = 6>

Body3dState* gcop::Body3dController< c >::xd

desired state (origin by default)

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

• lib/algos/body3dcontroller.h