momentumopt::DynamicsFeedback Class Reference

Class that implements the dynamic description of momentum dynamics as an optimal control problem, to be used by an LQR algorithm to derive a feedback sequence. More...

#include <DynamicsFeedback.hpp>

Inheritance diagram for momentumopt::DynamicsFeedback:

Collaboration diagram for momentumopt::DynamicsFeedback:

Public Member Functions
	DynamicsFeedback ()
void	setPlannerSetting (const PlannerSetting &setting)
void	setStatesAndControls (const DynamicsState &ini_state, const DynamicsSequence &dyn_sequence)

Private Member Functions
void	configure (const YAML::Node &user_parameters)
double	objective (const solverlqr::StateBase &state, const solverlqr::ControlBase &control, int time_id, bool is_final_timestep)
solverlqr::StateBase	dynamics (const solverlqr::StateBase &state, const solverlqr::ControlBase &control, int time_id)
const PlannerSetting &	getSetting () const
const DynamicsSequence &	dynamicsSequence () const

Private Attributes
const PlannerSetting *	setting_
const DynamicsSequence *	ref_dyn_sequence_
Eigen::MatrixXd	control_cost_
Eigen::MatrixXd	com_tracking_
Eigen::MatrixXd	lmom_tracking_
Eigen::MatrixXd	amom_tracking_
Eigen::MatrixXd	com_final_tracking_
Eigen::MatrixXd	lmom_final_tracking_
Eigen::MatrixXd	amom_final_tracking_

Detailed Description

Class that implements the dynamic description of momentum dynamics as an optimal control problem, to be used by an LQR algorithm to derive a feedback sequence.

Constructor & Destructor Documentation

momentumopt::DynamicsFeedback::DynamicsFeedback ( )

inline

default class constructor and destructor

Member Function Documentation

void momentumopt::DynamicsFeedback::configure ( const YAML::Node &  user_parameters )

private

function to give the user the possibility to read custom parameters

solverlqr::StateBase momentumopt::DynamicsFeedback::dynamics ( const solverlqr::StateBase &  state, const solverlqr::ControlBase &  control, int  time_id  )

private

definition of the dynamics evolution for the optimal control problem

const PlannerSetting& momentumopt::DynamicsFeedback::getSetting ( ) const

inlineprivate

these functions give access to the planner setting and optimized motion reference plan

double momentumopt::DynamicsFeedback::objective ( const solverlqr::StateBase &  state, const solverlqr::ControlBase &  control, int  time_id, bool  is_final_timestep  )

private

definition of the objective function for the optimal control problem

void momentumopt::DynamicsFeedback::setPlannerSetting ( const PlannerSetting &  setting )

inline

stores a pointer to the planner setting and reference dynamics sequence

Member Data Documentation

Eigen::MatrixXd momentumopt::DynamicsFeedback::control_cost_

private

helper vector variables for the optimization problem

const DynamicsSequence* momentumopt::DynamicsFeedback::ref_dyn_sequence_

private

pointer to dynamic sequence to be tracked

const PlannerSetting* momentumopt::DynamicsFeedback::setting_

private

pointer to planner setting

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

• include/momentumopt/dynopt/DynamicsFeedback.hpp
• src/momentumopt/dynopt/DynamicsFeedback.cpp