gcop::Controller< Tx, Tu, Ts, Tc > Class Template Reference

#include <controller.h>

Collaboration diagram for gcop::Controller< Tx, Tu, Ts, Tc >:

List of all members.

Public Member Functions
virtual bool	Set (Tu &u, double t, const Tx &x)=0
virtual bool	SetParams (const Ts &s)
virtual bool	SetContext (const Tc &c)
Public Attributes
Ts	s
	controller parameters
Tc	c
	controller context

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Detailed Description

template<typename Tx, typename Tu, typename Ts = VectorXd, typename Tc = VectorXd>
class gcop::Controller< Tx, Tu, Ts, Tc >

Base controller. Its simple purpose is to take a state x and time t and produces the control u.

Author: Marin Kobilarov -- Copyright (C) 2006-2013

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Member Function Documentation

template<typename Tx, typename Tu, typename Ts = VectorXd, typename Tc = VectorXd>

virtual bool gcop::Controller< Tx, Tu, Ts, Tc >::Set	(	Tu &	u,
		double	t,
		const Tx &	x
	)		[pure 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

Implemented in gcop::Body3dDemController< nu >, gcop::Body3dAvoidController< nu >, gcop::GavoidController, gcop::Body3dController< c >, gcop::Body3dController< nu >, gcop::Point3dController, and gcop::MbsController.

template<typename Tx, typename Tu, typename Ts = VectorXd, typename Tc = VectorXd>

virtual bool gcop::Controller< Tx, Tu, Ts, Tc >::SetContext

(

const Tc &

c

)

[inline, virtual]

Set context

Returns:

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

Reimplemented in gcop::Body3dDemController< nu >, and gcop::Body3dAvoidController< nu >.

template<typename Tx, typename Tu, typename Ts = VectorXd, typename Tc = VectorXd>

virtual bool gcop::Controller< Tx, Tu, Ts, Tc >::SetParams

(

const Ts &

s

)

[inline, virtual]

Set controller parameters

Returns:

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

Reimplemented in gcop::Body3dDemController< nu >, and gcop::Body3dAvoidController< nu >.

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Member Data Documentation

template<typename Tx, typename Tu, typename Ts = VectorXd, typename Tc = VectorXd>

Tc gcop::Controller< Tx, Tu, Ts, Tc >::c

controller context

template<typename Tx, typename Tu, typename Ts = VectorXd, typename Tc = VectorXd>

Ts gcop::Controller< Tx, Tu, Ts, Tc >::s

controller parameters

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

• lib/algos/controller.h