template<typename _Derived>
LieGroupControllers::ProportionalControllerBase class

Base classes

template<class _Derived>
class ControllerBase<_Derived>
ControllerBase describes a base controller.

Public functions

auto setStateImpl(const State& state) -> bool
Set the control state.
auto setDesiredStateImpl(const State& state) -> bool
Set the desired state.
auto setFeedForwardImpl(const Vector& feedForward) -> bool
Set the feedforward term of the controller.
void setGainsImpl(const Gains& gains)
Set the controller gains.
void setGainsImpl(const ScalarGains& gains)
Set the controller gains.
void computeControlLawImpl()
Evaluate the control law.
auto getControlImpl() const -> const Vector&
Get the control signal.
auto getStateImpl() const -> const State&
Get the state of the system.
auto getDesiredStateImpl() const -> const State&
Get the desired state of the system.
auto getFeedForwardImpl() const -> const Vector&
Get the feedforward term.

Function documentation

template<typename _Derived>
bool LieGroupControllers::ProportionalControllerBase<_Derived>::setStateImpl(const State& state)

Set the control state.

Parameters
state of the system.
Returns true in case of success, false otherwise.

template<typename _Derived>
bool LieGroupControllers::ProportionalControllerBase<_Derived>::setDesiredStateImpl(const State& state)

Set the desired state.

Parameters
state of the system.
Returns true in case of success, false otherwise.

template<typename _Derived>
bool LieGroupControllers::ProportionalControllerBase<_Derived>::setFeedForwardImpl(const Vector& feedForward)

Set the feedforward term of the controller.

Returns true in case of success, false otherwise.

template<typename _Derived>
void LieGroupControllers::ProportionalControllerBase<_Derived>::setGainsImpl(const Gains& gains)

Set the controller gains.

Parameters
gains contains the controller gains.

template<typename _Derived>
void LieGroupControllers::ProportionalControllerBase<_Derived>::setGainsImpl(const ScalarGains& gains)

Set the controller gains.

Parameters
gains contains the controller gains.

template<typename _Derived>
const Vector& LieGroupControllers::ProportionalControllerBase<_Derived>::getControlImpl() const

Get the control signal.

Returns a vector containing the control effort.

template<typename _Derived>
const State& LieGroupControllers::ProportionalControllerBase<_Derived>::getStateImpl() const

Get the state of the system.

Returns the state of the system.

template<typename _Derived>
const State& LieGroupControllers::ProportionalControllerBase<_Derived>::getDesiredStateImpl() const

Get the desired state of the system.

Returns the state of the system.

template<typename _Derived>
const Vector& LieGroupControllers::ProportionalControllerBase<_Derived>::getFeedForwardImpl() const

Get the feedforward term.

Returns the controller feedforward.