#include <body3ddemcontroller.h>
Public Types | |
| typedef Matrix< double, nu, 1 > | Vectorcd |
Public Member Functions | |
| Body3dDemController (const Body3d< nu > &sys, const Body3dState &x0, Body3dState *xf, Body3dPqpDem &dem, double vd=20) | |
| virtual bool | Set (Vectorcd &u, double t, const Body3dState &x) |
| virtual bool | SetParams (const Vector5d &s) |
| virtual bool | SetContext (const Body3dState &x) |
| void | GetTraj (vector< Body3dState > &xds, const Dem &dem, GridSearch &gdsl, const Body3dState &x0, const Body3dState &xf, double vd) |
Public Attributes | |
| const Body3dState & | x0 |
| start state | |
| Body3dPqpDem & | dem |
| gidital elevation map | |
| Body3dAvoidController< nu > | localCtrl |
| local avoidance controller | |
| GridSearch | dsl |
| global grid search | |
| vector< Body3dState > | xds |
| computed sequence of waypoints | |
| double | vd |
| desired forward velocity | |
| int | j |
| waypoint index | |
| double | wpRadius |
| waypoint switch radius | |
Detailed Description
template<int nu = 6>
class gcop::Body3dDemController< 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
Member Typedef Documentation
| typedef Matrix<double, nu, 1> gcop::Body3dDemController< nu >::Vectorcd |
Constructor & Destructor Documentation
| gcop::Body3dDemController< nu >::Body3dDemController | ( | const Body3d< nu > & | sys, |
| const Body3dState & | x0, | ||
| Body3dState * | xf, | ||
| Body3dPqpDem & | dem, | ||
| double | vd = 20 |
||
| ) |
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)
Member Function Documentation
| void gcop::Body3dDemController< nu >::GetTraj | ( | vector< Body3dState > & | xds, |
| const Dem & | dem, | ||
| GridSearch & | gdsl, | ||
| const Body3dState & | x0, | ||
| const Body3dState & | xf, | ||
| double | vd | ||
| ) |
References gcop::Dem::Index2Point(), and gcop::Dem::Point2Index().
| virtual bool gcop::Body3dDemController< 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 >, Vector5d, Body3dState >.
| bool gcop::Body3dDemController< 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 >, Vector5d, Body3dState >.
| bool gcop::Body3dDemController< 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 >, Vector5d, Body3dState >.
Member Data Documentation
| Body3dPqpDem& gcop::Body3dDemController< nu >::dem |
gidital elevation map
| GridSearch gcop::Body3dDemController< nu >::dsl |
global grid search
| int gcop::Body3dDemController< nu >::j |
waypoint index
| Body3dAvoidController<nu> gcop::Body3dDemController< nu >::localCtrl |
local avoidance controller
| double gcop::Body3dDemController< nu >::vd |
desired forward velocity
| double gcop::Body3dDemController< nu >::wpRadius |
waypoint switch radius
| const Body3dState& gcop::Body3dDemController< nu >::x0 |
start state
| vector<Body3dState> gcop::Body3dDemController< nu >::xds |
computed sequence of waypoints
The documentation for this class was generated from the following file:
- lib/algos/body3ddemcontroller.h
