robotoc::ControlPolicy Class Reference

Control pocily constructed for the MPC solution. More...

#include <control_policy.hpp>

Public Member Functions
	ControlPolicy (const OCPSolver &ocp_solver, const double t)
	Constructs the policy from the OCP solver. More...
	ControlPolicy ()
	Default constructor. More...
	~ControlPolicy ()=default
	Default destructor. More...
	ControlPolicy (const ControlPolicy &)=default
	Default copy constructor. More...
ControlPolicy &	operator= (const ControlPolicy &)=default
	Default copy assign operator. More...
	ControlPolicy (ControlPolicy &&) noexcept=default
	Default move constructor. More...
ControlPolicy &	operator= (ControlPolicy &&) noexcept=default
	Default move assign operator. More...
void	set (const OCPSolver &ocp_solver, const double t)
	Sets the control policy from the OCP solver. More...
void	disp (std::ostream &os) const

Static Public Member Functions
static ControlPolicy	FromOCPSolver (const OCPSolver &ocp_solver)

Public Attributes
double	t
	Inquired time of the control. More...
Eigen::VectorXd	tauJ
	Joint torques. Size must be Robot::dimu(). More...
Eigen::VectorXd	qJ
	Joint positions. Size must be Robot::dimu(). More...
Eigen::VectorXd	dqJ
	Joint velocities. Size must be Robot::dimu(). More...
Eigen::MatrixXd	Kp
	Joint position gain. Size must be Robot::dimu() x Robot::dimu(). More...
Eigen::MatrixXd	Kd
	Joint velocity gain. Size must be Robot::dimu() x Robot::dimu(). More...

Friends
std::ostream &	operator<< (std::ostream &os, const ControlPolicy &control_policy)

Detailed Description

Control pocily constructed for the MPC solution.

Constructor & Destructor Documentation

ControlPolicy() [1/4]

robotoc::ControlPolicy::ControlPolicy	(	const OCPSolver &	ocp_solver,
		const double	t
	)

Constructs the policy from the OCP solver.

Parameters

[in]	ocp_solver	OCP solver.
[in]	t	Inquired time of the control.

ControlPolicy() [2/4]

robotoc::ControlPolicy::ControlPolicy

(

)

Default constructor.

~ControlPolicy()

robotoc::ControlPolicy::~ControlPolicy ( )

default

Default destructor.

ControlPolicy() [3/4]

robotoc::ControlPolicy::ControlPolicy ( const ControlPolicy &  )

default

Default copy constructor.

ControlPolicy() [4/4]

robotoc::ControlPolicy::ControlPolicy ( ControlPolicy &&  )

defaultnoexcept

Default move constructor.

Member Function Documentation

disp()

void robotoc::ControlPolicy::disp

(

std::ostream &

os

)

const

FromOCPSolver()

static ControlPolicy robotoc::ControlPolicy::FromOCPSolver ( const OCPSolver &  ocp_solver )

static

operator=() [1/2]

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

default

Default copy assign operator.

operator=() [2/2]

ControlPolicy & robotoc::ControlPolicy::operator= ( ControlPolicy &&  )

defaultnoexcept

Default move assign operator.

set()

void robotoc::ControlPolicy::set	(	const OCPSolver &	ocp_solver,
		const double	t
	)

Sets the control policy from the OCP solver.

Parameters

[in]	ocp_solver	OCP solver.
[in]	t	Inquired time of the control.

Friends And Related Function Documentation

operator<<

std::ostream & operator<< ( std::ostream &  os, const ControlPolicy &  control_policy  )

friend

Member Data Documentation

dqJ

Eigen::VectorXd robotoc::ControlPolicy::dqJ

Joint velocities. Size must be Robot::dimu().

Kd

Eigen::MatrixXd robotoc::ControlPolicy::Kd

Joint velocity gain. Size must be Robot::dimu() x Robot::dimu().

Kp

Eigen::MatrixXd robotoc::ControlPolicy::Kp

Joint position gain. Size must be Robot::dimu() x Robot::dimu().

qJ

Eigen::VectorXd robotoc::ControlPolicy::qJ

Joint positions. Size must be Robot::dimu().

t

double robotoc::ControlPolicy::t

Inquired time of the control.

tauJ

Eigen::VectorXd robotoc::ControlPolicy::tauJ

Joint torques. Size must be Robot::dimu().

---

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

• /github/workspace/include/robotoc/mpc/control_policy.hpp