Perform closed-loop control task.
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#include <task_closed_loop_control.h>
Perform closed-loop control task.
This class performs a closed-loop control task given a state and control input reference trajectory.
- See also
- TaskInterface Environment
- Author
- Christoph Rösmann (chris.nosp@m.toph.nosp@m..roes.nosp@m.mann.nosp@m.@tu-d.nosp@m.ortm.nosp@m.und.d.nosp@m.e)
Definition at line 50 of file task_closed_loop_control.h.
◆ Ptr
◆ ClosedLoopControlTask()
corbo::ClosedLoopControlTask::ClosedLoopControlTask |
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◆ getAvailableSignals()
void corbo::ClosedLoopControlTask::getAvailableSignals |
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const Environment & |
environment, |
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SignalTargetInterface & |
signal_target, |
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const std::string & |
ns = "" |
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overridevirtual |
Retrieve available signals from the task.
Register a-priori known signals at the signal target. Registration is optional. Note, during performTask() further signals might occur without registration (in case the they are not known in advance or the implementation lacks a proper registration).
- Parameters
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[in,out] | signal_target | Target for occuring signals [optional] |
Reimplemented from corbo::TaskInterface.
Definition at line 41 of file task_closed_loop_control.cpp.
◆ getInstance()
◆ performTask()
void corbo::ClosedLoopControlTask::performTask |
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Environment & |
environment, |
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SignalTargetInterface * |
signal_target = nullptr , |
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std::string * |
msg = nullptr , |
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const std::string & |
ns = "" |
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) |
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overridevirtual |
◆ reset()
void corbo::ClosedLoopControlTask::reset |
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overridevirtual |
◆ setControlReference()
◆ setStateReference()
◆ verify()
bool corbo::ClosedLoopControlTask::verify |
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const Environment & |
environment, |
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std::string * |
msg = nullptr |
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| const |
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overridevirtual |
Check if the environment and other settings satisfy all requirements for the given task.
This function can be called in order to check if all components and models are appropriate, e.g. if all input and output dimensions are chosen adequately.
Note, Environment::verify() might be invoked in order to check if controller, plant and observer are specified correctly and if they have matching dimensions.
- Parameters
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[in] | environment | Standard environment (plant, controller, observer) |
[out] | msg | The string contains issue messages and hints if available [optional] |
- Returns
- true if verification was successfull, false otherwise.
Implements corbo::TaskInterface.
Definition at line 268 of file task_closed_loop_control.cpp.
◆ _compensate_cpu_time
bool corbo::ClosedLoopControlTask::_compensate_cpu_time = false |
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private |
◆ _compensate_dead_time
bool corbo::ClosedLoopControlTask::_compensate_dead_time = false |
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private |
◆ _compensator
◆ _computation_delay
double corbo::ClosedLoopControlTask::_computation_delay = 0 |
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private |
◆ _computation_delay_filter
◆ _dt
double corbo::ClosedLoopControlTask::_dt = 0.1 |
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private |
◆ _max_dt
◆ _min_dt
double corbo::ClosedLoopControlTask::_min_dt = 0 |
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◆ _realtime_sync
bool corbo::ClosedLoopControlTask::_realtime_sync = false |
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◆ _sim_time
double corbo::ClosedLoopControlTask::_sim_time = 10.0 |
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◆ _time_value_buffer
◆ _ureference
◆ _use_wall_time
bool corbo::ClosedLoopControlTask::_use_wall_time = false |
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private |
◆ _xreference
The documentation for this class was generated from the following files: