gcop::ControllerTparam< Tx, nx, nu, np, _ntp, Tc > Class Template Reference

#include <controllertparam.h>

Inheritance diagram for gcop::ControllerTparam< Tx, nx, nu, np, _ntp, Tc >:

Collaboration diagram for gcop::ControllerTparam< Tx, nx, nu, np, _ntp, Tc >:

List of all members.

Public Member Functions
	ControllerTparam (System< Tx, nx, nu, np > &sys, Controller< Tx, Vectorcd, Vectorntpd, Tc > &ctrl, int ntp=_ntp, Constraint< Tx, nx, nu, np, 1 > *con=0)
bool	To (Vectorntpd &s, const vector< double > &ts, const vector< Tx > &xs, const vector< Vectorcd > &us, const Vectormd *p=0)
bool	From (vector< double > &ts, vector< Tx > &xs, vector< Vectorcd > &us, const Vectorntpd &s, Vectormd *p=0)
virtual bool	SetContext (const Tc &c)
Public Attributes
Controller< Tx, Vectorcd, Vectorntpd, Tc > &	ctrl
	controller
Constraint< Tx, nx, nu, np, 1 > *	con
	scalar-valued path constraint to check feasibility
bool	stoch
	whether to simulate process noise (true by default)
Vectornd	w
	for sampling noise

---

Detailed Description

template<typename Tx, int nx = Dynamic, int nu = Dynamic, int np = Dynamic, int _ntp = Dynamic, typename Tc = VectorXd>
class gcop::ControllerTparam< Tx, nx, nu, np, _ntp, Tc >

Trajectory parametrization using a parametrized controller (a parametric policy). The parameters are typically the gains of the controller, but could also be any other policy parameters.

Author: Marin Kobilarov (c) 2005-2015

---

Constructor & Destructor Documentation

template<typename Tx , int nx, int nu, int np, int _ntp, typename Tc >

gcop::ControllerTparam< Tx, nx, nu, np, _ntp, Tc >::ControllerTparam	(	System< Tx, nx, nu, np > &	sys,
		Controller< Tx, Vectorcd, Vectorntpd, Tc > &	ctrl,
		int	ntp = _ntp,
		Constraint< Tx, nx, nu, np, 1 > *	con = 0
	)

References gcop::Manifold< T, _n >::n, gcop::ControllerTparam< Tx, nx, nu, np, _ntp, Tc >::w, and gcop::System< T, _nx, _nu, _np >::X.

---

Member Function Documentation

template<typename Tx , int nx, int nu, int np, int _ntp, typename Tc >

bool gcop::ControllerTparam< Tx, nx, nu, np, _ntp, Tc >::From	(	vector< double > &	ts,
		vector< Tx > &	xs,
		vector< Vectorcd > &	us,
		const Vectorntpd &	s,
		Vectormd *	p = 0
	)		[virtual]

Convert from trajectory (ts,xs,us,p) to parameters s

Parameters:

ts	times
xs	states
us	controls
s	trajectory parametrization vector
p	system parameters (optional)

Returns:

true if conversion was successful

Reimplemented from gcop::Tparam< Tx, nx, nu, np, _ntp >.

References gcop::random_normal().

template<typename Tx , int nx, int nu, int np, int _ntp, typename Tc >

bool gcop::ControllerTparam< Tx, nx, nu, np, _ntp, Tc >::SetContext

(

const Tc &

c

)

[virtual]

template<typename Tx , int nx, int nu, int np, int _ntp, typename Tc >

bool gcop::ControllerTparam< Tx, nx, nu, np, _ntp, Tc >::To	(	Vectorntpd &	s,
		const vector< double > &	ts,
		const vector< Tx > &	xs,
		const vector< Vectorcd > &	us,
		const Vectormd *	p = 0
	)		[virtual]

Convert from paramer s to trajectory (ts,xs,us,p)

Parameters:

s	trajectory parametrization vector
ts	times
xs	states
us	controls
p	system parameters (optional)

Returns:

true if conversion was successful

Reimplemented from gcop::Tparam< Tx, nx, nu, np, _ntp >.

---

Member Data Documentation

template<typename Tx , int nx = Dynamic, int nu = Dynamic, int np = Dynamic, int _ntp = Dynamic, typename Tc = VectorXd>

Constraint<Tx, nx, nu, np, 1>* gcop::ControllerTparam< Tx, nx, nu, np, _ntp, Tc >::con

scalar-valued path constraint to check feasibility

template<typename Tx , int nx = Dynamic, int nu = Dynamic, int np = Dynamic, int _ntp = Dynamic, typename Tc = VectorXd>

Controller<Tx, Vectorcd, Vectorntpd, Tc>& gcop::ControllerTparam< Tx, nx, nu, np, _ntp, Tc >::ctrl

controller

template<typename Tx , int nx = Dynamic, int nu = Dynamic, int np = Dynamic, int _ntp = Dynamic, typename Tc = VectorXd>

bool gcop::ControllerTparam< Tx, nx, nu, np, _ntp, Tc >::stoch

whether to simulate process noise (true by default)

template<typename Tx , int nx = Dynamic, int nu = Dynamic, int np = Dynamic, int _ntp = Dynamic, typename Tc = VectorXd>

Vectornd gcop::ControllerTparam< Tx, nx, nu, np, _ntp, Tc >::w

for sampling noise

Referenced by gcop::ControllerTparam< Tx, nx, nu, np, _ntp, Tc >::ControllerTparam().

---

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

• lib/systems/parametrization/controllertparam.h