balance_control::BalanceControl Class Reference

#include <balance_gazebo_control.h>

Public Member Functions
	BalanceControl ()
double *	getControl ()
	Set up the output array. More...
void	resetControl ()
	Resets all state and control variables. More...
void	stepControl (double dt, const double(&x_desired)[4], const double(&y_fbk)[4])
	Integrates control and models. More...

Private Attributes
double	dx_hat [4]
double	t
double	u_output [2]
double	x_adjust [4]
double	x_hat [4]
double	x_r [4]
double	x_reference [4]

Detailed Description

Controller with simplest interface. Just enough to work.

Todo:

How to log internal data of the controller?

Definition at line 34 of file balance_gazebo_control.h.

Constructor & Destructor Documentation

balance_control::BalanceControl::BalanceControl

(

)

Definition at line 11 of file balance_gazebo_control.cpp.

Member Function Documentation

double * balance_control::BalanceControl::getControl

(

)

Set up the output array.

Returns the address of the actuator torque array[2]

Definition at line 132 of file balance_gazebo_control.cpp.

void balance_control::BalanceControl::resetControl

(

)

Resets all state and control variables.

Useful when instantiating and reseting the control.

Definition at line 18 of file balance_gazebo_control.cpp.

void balance_control::BalanceControl::stepControl	(	double	dt,
		const double(&)	x_desired[4],
		const double(&)	y_fbk[4]
	)

Integrates control and models.

Integrates control with Euler method.

Parameters

dt	Step period.
x_desired	Input array[4] for goal state
y_fbk	Array[4] for sensor readings

Definition at line 39 of file balance_gazebo_control.cpp.

Member Data Documentation

double balance_control::BalanceControl::dx_hat[4]

private

Definition at line 46 of file balance_gazebo_control.h.

double balance_control::BalanceControl::t

private

Definition at line 44 of file balance_gazebo_control.h.

double balance_control::BalanceControl::u_output[2]

private

Definition at line 50 of file balance_gazebo_control.h.

double balance_control::BalanceControl::x_adjust[4]

private

Definition at line 49 of file balance_gazebo_control.h.

double balance_control::BalanceControl::x_hat[4]

private

Definition at line 45 of file balance_gazebo_control.h.

double balance_control::BalanceControl::x_r[4]

private

Definition at line 48 of file balance_gazebo_control.h.

double balance_control::BalanceControl::x_reference[4]

private

Definition at line 47 of file balance_gazebo_control.h.

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

• balance_gazebo_control.h
• balance_gazebo_control.cpp