Interface class for controllers. More...

#include <controller_interface.h>

Inheritance diagram for corbo::ControllerInterface:

[legend]

Public Types
using	ControlVector = Eigen::VectorXd

using	Ptr = std::shared_ptr< ControllerInterface >

using	StateVector = Eigen::VectorXd

using	UPtr = std::unique_ptr< ControllerInterface >

Public Member Functions
virtual void	getAvailableSignals (SignalTargetInterface &signal_target, const std::string &ns="") const
	Retrieve available signals from the controller. More...

virtual double	getControlDuration () const
	Return the duration for which the control u obtained from step() is valid (useful for asynchronous control) More...

virtual int	getControlInputDimension () const =0
	Return the control input dimension. More...

virtual Ptr	getInstance () const =0
	Return a newly created shared instance of the implemented class. More...

virtual int	getStateDimension () const =0
	Return the dimension of the required plant state/output. More...

virtual ControllerStatistics::Ptr	getStatistics () const

virtual bool	hasPiecewiseConstantControls () const =0
	Return true if the controller returns piecewise constant control pieces. More...

virtual bool	initialize (const StateVector &x, ReferenceTrajectoryInterface &expected_xref, ReferenceTrajectoryInterface &expected_uref, const Duration &expected_dt, const Time &t, ReferenceTrajectoryInterface *expected_sref=nullptr)
	Initialize the controller. More...

virtual bool	providesFutureControls () const =0

virtual bool	providesFutureStates () const =0

virtual void	reset ()=0
	Reset internal controller state and caches. More...

virtual void	sendSignals (double t, SignalTargetInterface &signal_target, const std::string &ns="") const

virtual bool	step (const StateVector &x, ReferenceTrajectoryInterface &xref, ReferenceTrajectoryInterface &uref, const Duration &dt, const Time &t, ControlVector &u, SignalTargetInterface *signal_target=nullptr, const std::string &ns="")
	Perform actual controller step / control law computation. More...

virtual bool	step (const StateVector &x, ReferenceTrajectoryInterface &xref, ReferenceTrajectoryInterface &uref, const Duration &dt, const Time &t, TimeSeries::Ptr u_sequence, TimeSeries::Ptr x_sequence, SignalTargetInterface signal_target=nullptr, ReferenceTrajectoryInterface sref=nullptr, ReferenceTrajectoryInterface xinit=nullptr, ReferenceTrajectoryInterface uinit=nullptr, const std::string &ns="")=0

virtual bool	supportsAsynchronousControl () const
	Specify whether the controllers step function is independent of dt and getControlDuration() returns a valid value. More...

virtual	~ControllerInterface ()
	Virtual destructor. More...

Static Public Member Functions
static Factory< ControllerInterface > &	getFactory ()
	Get access to the associated factory. More...

Detailed Description

Interface class for controllers.

This class specifies methods that are required to be implemented by specific controllers in order to allow their general utilization in a variety of control tasks.

Remarks: This interface is provided with factory support (ControllerFactory).

See also: PidController LqrController PredictiveController

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 58 of file controller_interface.h.

Member Typedef Documentation

◆ ControlVector

using corbo::ControllerInterface::ControlVector = Eigen::VectorXd

Definition at line 64 of file controller_interface.h.

◆ Ptr

using corbo::ControllerInterface::Ptr = std::shared_ptr<ControllerInterface>

Definition at line 61 of file controller_interface.h.

◆ StateVector

using corbo::ControllerInterface::StateVector = Eigen::VectorXd

Definition at line 63 of file controller_interface.h.

◆ UPtr

using corbo::ControllerInterface::UPtr = std::unique_ptr<ControllerInterface>

Definition at line 62 of file controller_interface.h.

Constructor & Destructor Documentation

◆ ~ControllerInterface()

virtual corbo::ControllerInterface::~ControllerInterface ( )

inlinevirtual

Virtual destructor.

Definition at line 67 of file controller_interface.h.

Member Function Documentation

◆ getAvailableSignals()

virtual void corbo::ControllerInterface::getAvailableSignals	(	SignalTargetInterface &	signal_target,
		const std::string &	ns = `""`
	)		const

inlinevirtual

Retrieve available signals from the controller.

Register a-priori known signals at the signal target. Registration is optional. Note, during step() execution further signals might occur without registration (in case the they are not known in advance or the implementation lacks a proper registration).

Parameters

[in,out] signal_target Target for occuring signals [optional]

Reimplemented in corbo::DualModeController, corbo::PidController, corbo::PredictiveController, corbo::StepResponseGenerator, and corbo::SimpleStateController.

Definition at line 152 of file controller_interface.h.

◆ getControlDuration()

virtual double corbo::ControllerInterface::getControlDuration ( ) const

inlinevirtual

Return the duration for which the control u obtained from step() is valid (useful for asynchronous control)

Reimplemented in corbo::DualModeController, and corbo::PredictiveController.

Definition at line 136 of file controller_interface.h.

◆ getControlInputDimension()

virtual int corbo::ControllerInterface::getControlInputDimension ( ) const

pure virtual

Return the control input dimension.

Implemented in corbo::PredictiveController, corbo::DualModeController, corbo::StepResponseGenerator, corbo::PidController, and corbo::SimpleStateController.

◆ getFactory()

static Factory<ControllerInterface>& corbo::ControllerInterface::getFactory ( )

inlinestatic

Get access to the associated factory.

Definition at line 73 of file controller_interface.h.

◆ getInstance()

virtual Ptr corbo::ControllerInterface::getInstance ( ) const

pure virtual

Return a newly created shared instance of the implemented class.

Implemented in corbo::DualModeController, corbo::PredictiveController, corbo::StepResponseGenerator, corbo::PidController, and corbo::SimpleStateController.

◆ getStateDimension()

virtual int corbo::ControllerInterface::getStateDimension ( ) const

pure virtual

Return the dimension of the required plant state/output.

Depending on the controller type, the state dimension can also be just the plant output or the complete measured or observed state vector.

Returns: the controllers state dimension

Implemented in corbo::PredictiveController, corbo::DualModeController, corbo::StepResponseGenerator, corbo::PidController, and corbo::SimpleStateController.

◆ getStatistics()

virtual ControllerStatistics::Ptr corbo::ControllerInterface::getStatistics ( ) const

inlinevirtual

Reimplemented in corbo::PredictiveController, corbo::DualModeController, and corbo::PidController.

Definition at line 156 of file controller_interface.h.

◆ hasPiecewiseConstantControls()

virtual bool corbo::ControllerInterface::hasPiecewiseConstantControls ( ) const

pure virtual

Return true if the controller returns piecewise constant control pieces.

Returns: true if the controls are piecewise constant

Implemented in corbo::PredictiveController, corbo::DualModeController, corbo::StepResponseGenerator, corbo::PidController, and corbo::SimpleStateController.

◆ initialize()

virtual bool corbo::ControllerInterface::initialize	(	const StateVector &	x,
		ReferenceTrajectoryInterface &	expected_xref,
		ReferenceTrajectoryInterface &	expected_uref,
		const Duration &	expected_dt,
		const Time &	t,
		ReferenceTrajectoryInterface *	expected_sref = `nullptr`
	)

inlinevirtual

Initialize the controller.

Initialization should be optional but it should facilitate memory allocation and trajectory initialization respectively warm starting.

Parameters

[in]	x	Current plant state [getStateDimension() x 1]
[in]	expected_xref	State reference (writable in order to allow to the reference object to precompute caches)
[in]	expected_uref	Control reference (writable in order to allow to the reference object to precompute caches)
[in]	expected_dt	Expected sampling interval length (controller rate)
[in]	t	Current time stamp (can be sim-time or system-time, but compatible to state and control references)

Returns: true if initialization was successful, false otherwise.

Reimplemented in corbo::DualModeController, corbo::PredictiveController, and corbo::SimpleStateController.

Definition at line 109 of file controller_interface.h.

◆ providesFutureControls()

virtual bool corbo::ControllerInterface::providesFutureControls ( ) const

pure virtual

Implemented in corbo::DualModeController, corbo::PredictiveController, corbo::StepResponseGenerator, corbo::PidController, and corbo::SimpleStateController.

◆ providesFutureStates()

virtual bool corbo::ControllerInterface::providesFutureStates ( ) const

pure virtual

Implemented in corbo::DualModeController, corbo::PredictiveController, corbo::StepResponseGenerator, corbo::PidController, and corbo::SimpleStateController.

◆ reset()

virtual void corbo::ControllerInterface::reset ( )

pure virtual

Reset internal controller state and caches.

Implemented in corbo::StepResponseGenerator, corbo::DualModeController, corbo::PidController, corbo::PredictiveController, and corbo::SimpleStateController.

◆ sendSignals()

virtual void corbo::ControllerInterface::sendSignals	(	double	t,
		SignalTargetInterface &	signal_target,
		const std::string &	ns = `""`
	)		const

inlinevirtual

Reimplemented in corbo::PredictiveController, and corbo::DualModeController.

Definition at line 154 of file controller_interface.h.

◆ step() [1/2]

bool corbo::ControllerInterface::step	(	const StateVector &	x,
		ReferenceTrajectoryInterface &	xref,
		ReferenceTrajectoryInterface &	uref,
		const Duration &	dt,
		const Time &	t,
		ControllerInterface::ControlVector &	u,
		SignalTargetInterface *	signal_target = `nullptr`,
		const std::string &	ns = `""`
	)

virtual

Perform actual controller step / control law computation.

Parameters

[in]	x	Current plant state [getStateDimension() x 1]
[in]	xref	State reference (writable in order to allow to the reference object to precompute caches)
[in]	uref	Control reference (writable in order to allow to the reference object to precompute caches)
[in]	dt	Last sampling interval length (does not (!) mean that the subsequent one will be identical)
[in]	t	Current time stamp (can be sim-time or system-time, but compatible to state and control references)
[out]	u	Computed control input for the plant [getControlInputDimension() x 1]
[in,out]	signal_target	Target for occuring signals [optional]

Returns: true if step was successful and computation of u was successful, false otherwise.

Definition at line 29 of file controller_interface.cpp.

◆ step() [2/2]

virtual bool corbo::ControllerInterface::step	(	const StateVector &	x,
		ReferenceTrajectoryInterface &	xref,
		ReferenceTrajectoryInterface &	uref,
		const Duration &	dt,
		const Time &	t,
		TimeSeries::Ptr	u_sequence,
		TimeSeries::Ptr	x_sequence,
		SignalTargetInterface *	signal_target = `nullptr`,
		ReferenceTrajectoryInterface *	sref = `nullptr`,
		ReferenceTrajectoryInterface *	xinit = `nullptr`,
		ReferenceTrajectoryInterface *	uinit = `nullptr`,
		const std::string &	ns = `""`
	)

pure virtual

Implemented in corbo::PidController, corbo::DualModeController, corbo::PredictiveController, corbo::SimpleStateController, and corbo::StepResponseGenerator.

◆ supportsAsynchronousControl()

virtual bool corbo::ControllerInterface::supportsAsynchronousControl ( ) const

inlinevirtual

Specify whether the controllers step function is independent of dt and getControlDuration() returns a valid value.

Reimplemented in corbo::DualModeController, and corbo::PredictiveController.

Definition at line 138 of file controller_interface.h.

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

Public Types

Public Member Functions

Static Public Member Functions

Detailed Description

Member Typedef Documentation

◆ ControlVector

◆ Ptr

◆ StateVector

◆ UPtr

Constructor & Destructor Documentation

◆ ~ControllerInterface()

Member Function Documentation

◆ getAvailableSignals()

◆ getControlDuration()

◆ getControlInputDimension()

◆ getFactory()

◆ getInstance()

◆ getStateDimension()

◆ getStatistics()

◆ hasPiecewiseConstantControls()

◆ initialize()

◆ providesFutureControls()

◆ providesFutureStates()

◆ reset()

◆ sendSignals()

◆ step() [1/2]

◆ step() [2/2]

◆ supportsAsynchronousControl()