robotoc::LQRPolicy Class Reference

The state feedback and feedforward policy of LQR subproblem at a time stage. More...

#include <lqr_policy.hpp>

Public Types
using	MatrixXdRowMajor = Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor >

Public Member Functions
	LQRPolicy (const Robot &robot)
	Constructs LQR gain and feedforward term. More...
	LQRPolicy ()
	Default constructor. More...
	~LQRPolicy ()
	Destructor. More...
	LQRPolicy (const LQRPolicy &)=default
	Default copy constructor. More...
LQRPolicy &	operator= (const LQRPolicy &)=default
	Default copy operator. More...
	LQRPolicy (LQRPolicy &&) noexcept=default
	Default move constructor. More...
LQRPolicy &	operator= (LQRPolicy &&) noexcept=default
	Default move assign operator. More...
const Eigen::Block< const MatrixXdRowMajor >	Kq () const
	State feedback gain matrix w.r.t. the configuration q. Size is Robot::dimu() x Robot::dimv(). More...
const Eigen::Block< const MatrixXdRowMajor >	Kv () const
	State feedback gain matrix w.r.t. the velocity v. Size is Robot::dimu() x Robot::dimv(). More...
bool	isApprox (const LQRPolicy &other) const
	Checks the equivalence of two LQRPolicy. More...

Public Attributes
MatrixXdRowMajor	K
	State feedback gain matrix. Size is Robot::dimu() x 2 * Robot::dimv(). More...
Eigen::VectorXd	k
	Feedforward term. Size is Robot::dimu(). More...
Eigen::VectorXd	T
	Feedback gain w.r.t the switching time. Size is Robot::dimu(). More...
Eigen::VectorXd	W
	Feedback gain w.r.t the next switching time. Size is Robot::dimu(). More...

Detailed Description

The state feedback and feedforward policy of LQR subproblem at a time stage.

Member Typedef Documentation

MatrixXdRowMajor

using robotoc::LQRPolicy::MatrixXdRowMajor = Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>

Constructor & Destructor Documentation

LQRPolicy() [1/4]

robotoc::LQRPolicy::LQRPolicy ( const Robot &  robot )

inline

Constructs LQR gain and feedforward term.

Parameters

[in]

robot

Robot model.

LQRPolicy() [2/4]

robotoc::LQRPolicy::LQRPolicy ( )

inline

Default constructor.

~LQRPolicy()

robotoc::LQRPolicy::~LQRPolicy ( )

inline

Destructor.

LQRPolicy() [3/4]

robotoc::LQRPolicy::LQRPolicy ( const LQRPolicy &  )

default

Default copy constructor.

LQRPolicy() [4/4]

robotoc::LQRPolicy::LQRPolicy ( LQRPolicy &&  )

defaultnoexcept

Default move constructor.

Member Function Documentation

isApprox()

bool robotoc::LQRPolicy::isApprox ( const LQRPolicy &  other ) const

inline

Checks the equivalence of two LQRPolicy.

Parameters

[in]

other

object.

Returns

true if this and other is same. false otherwise.

Kq()

const Eigen::Block< const MatrixXdRowMajor > robotoc::LQRPolicy::Kq ( ) const

inline

State feedback gain matrix w.r.t. the configuration q. Size is Robot::dimu() x Robot::dimv().

Returns

const reference to the gain matrix.

Kv()

const Eigen::Block< const MatrixXdRowMajor > robotoc::LQRPolicy::Kv ( ) const

inline

State feedback gain matrix w.r.t. the velocity v. Size is Robot::dimu() x Robot::dimv().

Returns

const reference to the gain matrix.

operator=() [1/2]

LQRPolicy & robotoc::LQRPolicy::operator= ( const LQRPolicy &  )

default

Default copy operator.

operator=() [2/2]

LQRPolicy & robotoc::LQRPolicy::operator= ( LQRPolicy &&  )

defaultnoexcept

Default move assign operator.

Member Data Documentation

K

MatrixXdRowMajor robotoc::LQRPolicy::K

State feedback gain matrix. Size is Robot::dimu() x 2 * Robot::dimv().

k

Eigen::VectorXd robotoc::LQRPolicy::k

Feedforward term. Size is Robot::dimu().

T

Eigen::VectorXd robotoc::LQRPolicy::T

Feedback gain w.r.t the switching time. Size is Robot::dimu().

W

Eigen::VectorXd robotoc::LQRPolicy::W

Feedback gain w.r.t the next switching time. Size is Robot::dimu().

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

• /github/workspace/include/robotoc/riccati/lqr_policy.hpp