labust::control::esc::EscPerturbationBase< precission > Class Template Reference

#include <EscPerturbationBase.hpp>

List of all members.

Public Types
typedef Eigen::Matrix < precission, Eigen::Dynamic, Eigen::Dynamic >	matrix
typedef precission	numericprecission
typedef Eigen::Matrix < precission, Eigen::Dynamic, 1 >	vector
Public Member Functions
virtual vector	controllerGain (vector postFiltered)
	EscPerturbationBase (int ctrlNum, numericprecission Ts)
virtual vector	gradientEstimation (numericprecission cost_signal_filtered, vector additional_input)=0
virtual vector	postFiltering (vector estimated_gradient)
virtual numericprecission	preFiltering (numericprecission cost_signal)
virtual void	reset ()
virtual vector	step (numericprecission cost_signal, vector additional_input=vector::Zero(2))
virtual vector	superimposePerturbation (vector control)=0
virtual	~EscPerturbationBase ()
Public Attributes
vector	control_
int	controlNum
uint32_t	cycle_count_
vector	estimated_gradient_old_
vector	gain_
bool	initialized_
bool	old_vals_initialized_
numericprecission	pre_filter_input_old_
numericprecission	pre_filter_output_old_
bool	state_initialized_
numericprecission	Ts_

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Detailed Description

template<typename precission = double>
class labust::control::esc::EscPerturbationBase< precission >

Definition at line 59 of file EscPerturbationBase.hpp.

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Member Typedef Documentation

template<typename precission = double>

typedef Eigen::Matrix<precission, Eigen::Dynamic, Eigen::Dynamic> labust::control::esc::EscPerturbationBase< precission >::matrix

Definition at line 65 of file EscPerturbationBase.hpp.

template<typename precission = double>

typedef precission labust::control::esc::EscPerturbationBase< precission >::numericprecission

Definition at line 63 of file EscPerturbationBase.hpp.

template<typename precission = double>

typedef Eigen::Matrix<precission, Eigen::Dynamic, 1> labust::control::esc::EscPerturbationBase< precission >::vector

Definition at line 66 of file EscPerturbationBase.hpp.

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Constructor & Destructor Documentation

template<typename precission = double>

labust::control::esc::EscPerturbationBase< precission >::EscPerturbationBase	(	int	ctrlNum,
		numericprecission	Ts
	)		[inline]

Definition at line 68 of file EscPerturbationBase.hpp.

template<typename precission = double>

virtual labust::control::esc::EscPerturbationBase< precission >::~EscPerturbationBase

(

)

[inline, virtual]

Definition at line 75 of file EscPerturbationBase.hpp.

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Member Function Documentation

template<typename precission = double>

virtual vector labust::control::esc::EscPerturbationBase< precission >::controllerGain

(

vector

postFiltered

)

[inline, virtual]

Reimplemented in labust::control::esc::EscClassic, labust::control::esc::EscEkfGrad, and labust::control::esc::EscEkfGradModel.

Definition at line 92 of file EscPerturbationBase.hpp.

template<typename precission = double>

virtual vector labust::control::esc::EscPerturbationBase< precission >::gradientEstimation	(	numericprecission	cost_signal_filtered,
		vector	additional_input
	)		[pure virtual]

Implemented in labust::control::esc::EscClassic, labust::control::esc::EscEkfGrad, and labust::control::esc::EscEkfGradModel.

template<typename precission = double>

virtual vector labust::control::esc::EscPerturbationBase< precission >::postFiltering

(

vector

estimated_gradient

)

[inline, virtual]

Reimplemented in labust::control::esc::EscClassic.

Definition at line 88 of file EscPerturbationBase.hpp.

template<typename precission = double>

virtual numericprecission labust::control::esc::EscPerturbationBase< precission >::preFiltering

(

numericprecission

cost_signal

)

[inline, virtual]

Reimplemented in labust::control::esc::EscClassic.

Definition at line 81 of file EscPerturbationBase.hpp.

template<typename precission = double>

virtual void labust::control::esc::EscPerturbationBase< precission >::reset

(

)

[inline, virtual]

Definition at line 119 of file EscPerturbationBase.hpp.

template<typename precission = double>

virtual vector labust::control::esc::EscPerturbationBase< precission >::step	(	numericprecission	cost_signal,
		vector	additional_input = vector::Zero(2)
	)		[inline, virtual]

Definition at line 99 of file EscPerturbationBase.hpp.

template<typename precission = double>

virtual vector labust::control::esc::EscPerturbationBase< precission >::superimposePerturbation

(

vector

control

)

[pure virtual]

Implemented in labust::control::esc::EscClassic, labust::control::esc::EscEkfGrad, and labust::control::esc::EscEkfGradModel.

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Member Data Documentation

template<typename precission = double>

vector labust::control::esc::EscPerturbationBase< precission >::control_

Definition at line 145 of file EscPerturbationBase.hpp.

template<typename precission = double>

int labust::control::esc::EscPerturbationBase< precission >::controlNum

Definition at line 141 of file EscPerturbationBase.hpp.

template<typename precission = double>

uint32_t labust::control::esc::EscPerturbationBase< precission >::cycle_count_

Definition at line 135 of file EscPerturbationBase.hpp.

template<typename precission = double>

vector labust::control::esc::EscPerturbationBase< precission >::estimated_gradient_old_

Definition at line 145 of file EscPerturbationBase.hpp.

template<typename precission = double>

vector labust::control::esc::EscPerturbationBase< precission >::gain_

Definition at line 145 of file EscPerturbationBase.hpp.

template<typename precission = double>

bool labust::control::esc::EscPerturbationBase< precission >::initialized_

Definition at line 138 of file EscPerturbationBase.hpp.

template<typename precission = double>

bool labust::control::esc::EscPerturbationBase< precission >::old_vals_initialized_

Definition at line 138 of file EscPerturbationBase.hpp.

template<typename precission = double>

numericprecission labust::control::esc::EscPerturbationBase< precission >::pre_filter_input_old_

Definition at line 144 of file EscPerturbationBase.hpp.

template<typename precission = double>

numericprecission labust::control::esc::EscPerturbationBase< precission >::pre_filter_output_old_

Definition at line 144 of file EscPerturbationBase.hpp.

template<typename precission = double>

bool labust::control::esc::EscPerturbationBase< precission >::state_initialized_

Definition at line 138 of file EscPerturbationBase.hpp.

template<typename precission = double>

numericprecission labust::control::esc::EscPerturbationBase< precission >::Ts_

Definition at line 132 of file EscPerturbationBase.hpp.

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

• EscPerturbationBase.hpp