template<typename _Derived>
ProportionalDerivativeControllerBase class
Base classes
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template<class _Derived>class ControllerBase<_Derived>
- ControllerBase describes a base controller.
Public types
- using State = typename ControllerBase<_Derived>::State
- using Vector = typename ControllerBase<_Derived>::Vector
- using ScalarGains = typename ControllerBase<_Derived>::ScalarGains
- using Gains = typename ControllerBase<_Derived>::Gains
- using LieGroup = typename ControllerBase<_Derived>::LieGroup
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:: ProportionalDerivativeControllerBase<_Derived>:: setStateImpl(const State& state)
Set the control state.
Parameters | |
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state | of the system. |
Returns | true in case of success, false otherwise. |
template<typename _Derived>
bool LieGroupControllers:: ProportionalDerivativeControllerBase<_Derived>:: setDesiredStateImpl(const State& state)
Set the desired state.
Parameters | |
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state | of the system. |
Returns | true in case of success, false otherwise. |
template<typename _Derived>
bool LieGroupControllers:: ProportionalDerivativeControllerBase<_Derived>:: setFeedForwardImpl(const Vector& feedForward)
Set the feedforward term of the controller.
Returns | true in case of success, false otherwise. |
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template<typename _Derived>
void LieGroupControllers:: ProportionalDerivativeControllerBase<_Derived>:: setGainsImpl(const Gains& gains)
Set the controller gains.
Parameters | |
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gains | contains the controller gains. |
template<typename _Derived>
void LieGroupControllers:: ProportionalDerivativeControllerBase<_Derived>:: setGainsImpl(const ScalarGains& gains)
Set the controller gains.
Parameters | |
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gains | contains the controller gains. |
template<typename _Derived>
const Vector& LieGroupControllers:: ProportionalDerivativeControllerBase<_Derived>:: getControlImpl() const
Get the control signal.
Returns | a vector containing the control effort. |
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template<typename _Derived>
const State& LieGroupControllers:: ProportionalDerivativeControllerBase<_Derived>:: getStateImpl() const
Get the state of the system.
Returns | the state of the system. |
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template<typename _Derived>
const State& LieGroupControllers:: ProportionalDerivativeControllerBase<_Derived>:: getDesiredStateImpl() const
Get the desired state of the system.
Returns | the state of the system. |
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template<typename _Derived>
const Vector& LieGroupControllers:: ProportionalDerivativeControllerBase<_Derived>:: getFeedForwardImpl() const
Get the feedforward term.
Returns | the controller feedforward. |
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