labust::control::esc::EscEkfGrad Class Reference

#include <EscEKF.hpp>

Inheritance diagram for labust::control::esc::EscEkfGrad:

List of all members.

Public Member Functions
vector	controllerGain (vector postFiltered)
	EscEkfGrad (int ctrlNum, numericprecission Ts)
vector	gradientEstimation (numericprecission cost_signal_filtered, vector additional_input)
void	initController (double sin_amp, double sin_freq, double corr_gain, double high_pass_pole, double low_pass_pole, double comp_zero, double comp_pole, double period, vector Q, vector R)
vector	modelUpdate (vector state, vector input)
vector	outputUpdate (vector state, vector input)
vector	superimposePerturbation (vector control)
	~EscEkfGrad ()
Public Attributes
matrix	A
vector	control_ref_
vector	corr_gain_
matrix	H
vector	hk
vector	input
vector	input_past
matrix	Kk
matrix	L
matrix	M
Eigen::Vector3d	n1
Eigen::Vector3d	n2
vector	phase_shift_
matrix	Pk_min
matrix	Pk_plu
matrix	Q
matrix	R
vector	signal_demodulated_old_
vector	sin_amp_
vector	sin_freq_
vector	state_
vector	xk_min
vector	xk_plu
vector	yk

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Detailed Description

Definition at line 18 of file EscEKF.hpp.

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Constructor & Destructor Documentation

labust::control::esc::EscEkfGrad::EscEkfGrad	(	int	ctrlNum,
		numericprecission	Ts
	)

labust::control::esc::EscEkfGrad::~EscEkfGrad

(

)

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Member Function Documentation

vector labust::control::esc::EscEkfGrad::controllerGain

(

vector

postFiltered

)

[virtual]

Reimplemented from labust::control::esc::EscPerturbationBase< double >.

vector labust::control::esc::EscEkfGrad::gradientEstimation	(	numericprecission	cost_signal_filtered,
		vector	additional_input
	)		[virtual]

Implements labust::control::esc::EscPerturbationBase< double >.

void labust::control::esc::EscEkfGrad::initController	(	double	sin_amp,
		double	sin_freq,
		double	corr_gain,
		double	high_pass_pole,
		double	low_pass_pole,
		double	comp_zero,
		double	comp_pole,
		double	period,
		vector	Q,
		vector	R
	)

vector labust::control::esc::EscEkfGrad::modelUpdate	(	vector	state,
		vector	input
	)

vector labust::control::esc::EscEkfGrad::outputUpdate	(	vector	state,
		vector	input
	)

vector labust::control::esc::EscEkfGrad::superimposePerturbation

(

vector

control

)

[virtual]

Implements labust::control::esc::EscPerturbationBase< double >.

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Member Data Documentation

matrix labust::control::esc::EscEkfGrad::A

Definition at line 49 of file EscEKF.hpp.

vector labust::control::esc::EscEkfGrad::control_ref_

Definition at line 43 of file EscEKF.hpp.

vector labust::control::esc::EscEkfGrad::corr_gain_

Definition at line 42 of file EscEKF.hpp.

matrix labust::control::esc::EscEkfGrad::H

Definition at line 49 of file EscEKF.hpp.

vector labust::control::esc::EscEkfGrad::hk

Definition at line 51 of file EscEKF.hpp.

vector labust::control::esc::EscEkfGrad::input

Definition at line 53 of file EscEKF.hpp.

vector labust::control::esc::EscEkfGrad::input_past

Definition at line 53 of file EscEKF.hpp.

matrix labust::control::esc::EscEkfGrad::Kk

Definition at line 50 of file EscEKF.hpp.

matrix labust::control::esc::EscEkfGrad::L

Definition at line 49 of file EscEKF.hpp.

matrix labust::control::esc::EscEkfGrad::M

Definition at line 49 of file EscEKF.hpp.

Eigen::Vector3d labust::control::esc::EscEkfGrad::n1

Definition at line 58 of file EscEKF.hpp.

Eigen::Vector3d labust::control::esc::EscEkfGrad::n2

Definition at line 58 of file EscEKF.hpp.

vector labust::control::esc::EscEkfGrad::phase_shift_

Definition at line 43 of file EscEKF.hpp.

matrix labust::control::esc::EscEkfGrad::Pk_min

Definition at line 50 of file EscEKF.hpp.

matrix labust::control::esc::EscEkfGrad::Pk_plu

Definition at line 50 of file EscEKF.hpp.

matrix labust::control::esc::EscEkfGrad::Q

Definition at line 49 of file EscEKF.hpp.

matrix labust::control::esc::EscEkfGrad::R

Definition at line 49 of file EscEKF.hpp.

vector labust::control::esc::EscEkfGrad::signal_demodulated_old_

Definition at line 43 of file EscEKF.hpp.

vector labust::control::esc::EscEkfGrad::sin_amp_

Definition at line 42 of file EscEKF.hpp.

vector labust::control::esc::EscEkfGrad::sin_freq_

Definition at line 42 of file EscEKF.hpp.

vector labust::control::esc::EscEkfGrad::state_

Definition at line 45 of file EscEKF.hpp.

vector labust::control::esc::EscEkfGrad::xk_min

Definition at line 51 of file EscEKF.hpp.

vector labust::control::esc::EscEkfGrad::xk_plu

Definition at line 51 of file EscEKF.hpp.

vector labust::control::esc::EscEkfGrad::yk

Definition at line 56 of file EscEKF.hpp.

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

• EscEKF.hpp