robotoc::STOPolicy Class Reference

The state feedback and feedforward policy of the switching time optimization (STO). More...

#include <sto_policy.hpp>

Public Member Functions
	STOPolicy (const Robot &robot)
	Constructs STO gain and feedforward term. More...
	STOPolicy ()
	Default constructor. More...
	~STOPolicy ()
	Destructor. More...
	STOPolicy (const STOPolicy &)=default
	Default copy constructor. More...
STOPolicy &	operator= (const STOPolicy &)=default
	Default copy operator. More...
	STOPolicy (STOPolicy &&) noexcept=default
	Default move constructor. More...
STOPolicy &	operator= (STOPolicy &&) noexcept=default
	Default move assign operator. More...
bool	isApprox (const STOPolicy &other) const
	Checks the equivalence of two STOPolicy. More...

Public Attributes
Eigen::VectorXd	dtsdx
	Feedback gain of the STO policy, i.e. the sensitivity w.r.t. the state. Size is 2 * Robot::dimv(). More...
double	dtsdts
	Feedback gain of the STO policy, i.e. the sensitivity w.r.t. the previous switching time. More...
double	dts0
	Feedforward term of the STO policy. More...

Detailed Description

The state feedback and feedforward policy of the switching time optimization (STO).

Constructor & Destructor Documentation

STOPolicy() [1/4]

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

inline

Constructs STO gain and feedforward term.

Parameters

[in]

robot

Robot model.

STOPolicy() [2/4]

robotoc::STOPolicy::STOPolicy ( )

inline

Default constructor.

~STOPolicy()

robotoc::STOPolicy::~STOPolicy ( )

inline

Destructor.

STOPolicy() [3/4]

robotoc::STOPolicy::STOPolicy ( const STOPolicy &  )

default

Default copy constructor.

STOPolicy() [4/4]

robotoc::STOPolicy::STOPolicy ( STOPolicy &&  )

defaultnoexcept

Default move constructor.

Member Function Documentation

isApprox()

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

inline

Checks the equivalence of two STOPolicy.

Parameters

[in]

other

object.

Returns

true if this and other is same. false otherwise.

operator=() [1/2]

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

default

Default copy operator.

operator=() [2/2]

STOPolicy & robotoc::STOPolicy::operator= ( STOPolicy &&  )

defaultnoexcept

Default move assign operator.

Member Data Documentation

dts0

double robotoc::STOPolicy::dts0

Feedforward term of the STO policy.

dtsdts

double robotoc::STOPolicy::dtsdts

Feedback gain of the STO policy, i.e. the sensitivity w.r.t. the previous switching time.

dtsdx

Eigen::VectorXd robotoc::STOPolicy::dtsdx

Feedback gain of the STO policy, i.e. the sensitivity w.r.t. the state. Size is 2 * Robot::dimv().

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

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