gcop::MbsController Class Reference

#include <mbscontroller.h>

Inheritance diagram for gcop::MbsController:

Collaboration diagram for gcop::MbsController:

List of all members.

Public Member Functions
	MbsController (const Mbs &sys, MbsState *xd=0, VectorXd *ad=0)
virtual bool	Set (VectorXd &u, double t, const MbsState &x)
virtual	~MbsController ()
Public Attributes
const Mbs &	sys
	multi-body system
MbsState *	xd
	desired state (origin by default)
VectorXd *	ad
	desired acceleration (zero by default)
VectorXd	Kp
	proportional terms (ones by default)
VectorXd	Kd
	derivative terms (ones by default)

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Constructor & Destructor Documentation

MbsController::MbsController	(	const Mbs &	sys,
		MbsState *	xd = 0,
		VectorXd *	ad = 0
	)

MBS 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 Kd, and Kp.

MbsController::~MbsController

(

)

[virtual]

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Member Function Documentation

bool MbsController::Set	(	VectorXd &	u,
		double	t,
		const MbsState &	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< MbsState, VectorXd >.

References ad, gcop::Mbs::Bias(), gcop::MbsState::dr, gcop::Mbs::fixed, gcop::MbsState::gs, gcop::SE3::Instance(), gcop::SE3::inv(), Kd, Kp, gcop::SE3::log(), gcop::Mbs::Mass(), gcop::Mbs::nb, gcop::MbsState::r, sys, gcop::MbsState::vs, and xd.

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Member Data Documentation

VectorXd* gcop::MbsController::ad

desired acceleration (zero by default)

Referenced by Set().

VectorXd gcop::MbsController::Kd

derivative terms (ones by default)

Referenced by MbsController(), and Set().

VectorXd gcop::MbsController::Kp

proportional terms (ones by default)

Referenced by MbsController(), and Set().

const Mbs& gcop::MbsController::sys

multi-body system

Referenced by Set().

MbsState* gcop::MbsController::xd

desired state (origin by default)

Referenced by Set().

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

• lib/algos/mbscontroller.h
• lib/algos/mbscontroller.cc