#include "rsv_balance_gazebo_control/control.h"
Include dependency graph for control.cpp:
Go to the source code of this file.
Variables | |
| const float | A [4][4] |
| const float | A_BK [4][4] |
| const float | B [4][2] |
| const float | C [4][4] |
| const float | g_fBaseWidth = 0.5 |
| const float | g_fI3 = .85 |
| const float | g_fWheelRadius = 0.19 |
| const float | K [2][4] |
| const float | L [4][4] |
Variable Documentation
| const float A[4][4] |
Initial value:
= {
{ 0, 0, 0, 1 },
{ -1.2540568855640422, 0, 0, 0 },
{ 0, 0, 0, 0 },
{ 6.059985836147613, 0, 0, 0 }}
Definition at line 12 of file control.cpp.
| const float A_BK[4][4] |
Initial value:
= {
{ 0. , 0. , 0. , 1. },
{ 37.10689605, 4.62527303, 0. , 17.41179119},
{ 0. , 0. , -1.3745877 , 0. },
{-30.47314609, -4.40488822, -0. , -16.58215492 }}
Definition at line 40 of file control.cpp.
| const float B[4][2] |
Initial value:
= {
{ 0.0, 0.0 },
{ 0.1635280961687897, 0.1635280961687897 },
{ -0.09719802837298575, 0.09719802837298575 },
{ -0.15573631660299134, -0.15573631660299134 }}
Definition at line 18 of file control.cpp.
| const float C[4][4] |
Initial value:
= {
{ 1.0, 0.0, 0.0, 0.0 },
{ 0.0, 1.0, 0.0, 0.0 },
{ 0.0, 0.0, 1.0, 0.0 },
{ 0.0, 0.0, 0.0, 1.0 }}
Definition at line 24 of file control.cpp.
| const float g_fBaseWidth = 0.5 |
Definition at line 9 of file control.cpp.
| const float g_fI3 = .85 |
Definition at line 10 of file control.cpp.
| const float g_fWheelRadius = 0.19 |
Definition at line 8 of file control.cpp.
| const float K[2][4] |
Initial value:
= {
{-117.29162704, -14.14213562, -7.07106781, -53.23791934},
{-117.29162704, -14.14213562, 7.07106781, -53.23791934}}
Definition at line 36 of file control.cpp.
| const float L[4][4] |
Initial value:
= {
{ 28.04011263, -2.25919745, -0. , 10.92301101 },
{ -2.25919745, 28.93520042, -0. , 5.07012978 },
{ 0., 0., 20., 0. },
{ 10.92301101, 5.07012978, -0. , 5.48639076 }}
Definition at line 30 of file control.cpp.