controller.h File Reference

#include <boost/numeric/ublas/vector.hpp>
#include <boost/numeric/ublas/matrix.hpp>
#include <boost/math/special_functions/fpclassify.hpp>
#include "ros/ros.h"
#include "lyap_control/plant_msg.h"
#include "lyap_control/controller_msg.h"
#include "lyap_control/controller_globals.h"

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Typedefs
typedef boost::numeric::ublas::vector< double >	ublas_vector

Functions
void	calculate_dx_dot_du (boost::numeric::ublas::matrix< double > &dx_dot_du, ublas_vector &open_loop_dx_dt)
void	calculate_u (ublas_vector &D, ublas_vector &open_loop_dx_dt, const double &V_dot_target, boost::numeric::ublas::matrix< double > &dx_dot_du)
void	calculate_V_and_damping (double &V_dot_target)
void	chatterCallback (const lyap_control::plant_msg &msg)
void	initial_error_check (const lyap_control::plant_msg &msg)
void	model_definition (const ublas_vector &x, ublas_vector &dxdt, const double t)

Variables
static const double	g = 1.0
static const double	high_saturation_limit [] = {10.0, 10.0}
static const double	low_saturation_limit [] = {-10.0, -10.0}
static const double	switching_threshold = 0.01
static const double	V_dot_target_initial_dB = -100.0

Typedef Documentation

typedef boost::numeric::ublas::vector<double> ublas_vector

Definition at line 5 of file controller.h.

Function Documentation

void calculate_dx_dot_du	(	boost::numeric::ublas::matrix< double > &	dx_dot_du,
		ublas_vector &	open_loop_dx_dt
	)

Definition at line 138 of file controller.cpp.

void calculate_u	(	ublas_vector &	D,
		ublas_vector &	open_loop_dx_dt,
		const double &	V_dot_target,
		boost::numeric::ublas::matrix< double > &	dx_dot_du
	)

Definition at line 189 of file controller.cpp.

void calculate_V_and_damping

(

double &

V_dot_target

)

Definition at line 170 of file controller.cpp.

void chatterCallback

(

const lyap_control::plant_msg &

msg

)

Definition at line 41 of file controller.cpp.

void initial_error_check

(

const lyap_control::plant_msg &

msg

)

Definition at line 104 of file controller.cpp.

void model_definition	(	const ublas_vector &	x,
		ublas_vector &	dxdt,
		const double	t
	)

Definition at line 36 of file controller.h.

Variable Documentation

const double g = 1.0

static

Definition at line 28 of file controller.h.

const double high_saturation_limit[] = {10.0, 10.0}

static

Definition at line 24 of file controller.h.

const double low_saturation_limit[] = {-10.0, -10.0}

static

Definition at line 25 of file controller.h.

const double switching_threshold = 0.01

static

Definition at line 31 of file controller.h.

const double V_dot_target_initial_dB = -100.0

static

Definition at line 22 of file controller.h.