#include <EscEKFModel.hpp>
Public Member Functions | |
vector | controllerGain (vector postFiltered) |
EscEkfGradModel (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) |
~EscEkfGradModel () | |
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 |
bool | newCost |
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 |
Definition at line 18 of file EscEKFModel.hpp.
labust::control::esc::EscEkfGradModel::EscEkfGradModel | ( | int | ctrlNum, |
numericprecission | Ts | ||
) |
vector labust::control::esc::EscEkfGradModel::controllerGain | ( | vector | postFiltered | ) | [virtual] |
Reimplemented from labust::control::esc::EscPerturbationBase< double >.
vector labust::control::esc::EscEkfGradModel::gradientEstimation | ( | numericprecission | cost_signal_filtered, |
vector | additional_input | ||
) | [virtual] |
void labust::control::esc::EscEkfGradModel::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::EscEkfGradModel::modelUpdate | ( | vector | state, |
vector | input | ||
) |
vector labust::control::esc::EscEkfGradModel::outputUpdate | ( | vector | state, |
vector | input | ||
) |
vector labust::control::esc::EscEkfGradModel::superimposePerturbation | ( | vector | control | ) | [virtual] |
Definition at line 49 of file EscEKFModel.hpp.
Definition at line 43 of file EscEKFModel.hpp.
Definition at line 42 of file EscEKFModel.hpp.
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Definition at line 53 of file EscEKFModel.hpp.
Definition at line 50 of file EscEKFModel.hpp.
Definition at line 49 of file EscEKFModel.hpp.
Definition at line 49 of file EscEKFModel.hpp.
Eigen::Vector3d labust::control::esc::EscEkfGradModel::n1 |
Definition at line 61 of file EscEKFModel.hpp.
Eigen::Vector3d labust::control::esc::EscEkfGradModel::n2 |
Definition at line 61 of file EscEKFModel.hpp.
Definition at line 59 of file EscEKFModel.hpp.
Definition at line 43 of file EscEKFModel.hpp.
Definition at line 50 of file EscEKFModel.hpp.
Definition at line 50 of file EscEKFModel.hpp.
Definition at line 49 of file EscEKFModel.hpp.
Definition at line 49 of file EscEKFModel.hpp.
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Definition at line 51 of file EscEKFModel.hpp.
Definition at line 56 of file EscEKFModel.hpp.