Dual mode controller. More...

#include <dual_mode_controller.h>

Inheritance diagram for corbo::DualModeController:

Public Types
using	Ptr = std::shared_ptr< DualModeController >

Public Types inherited from corbo::ControllerInterface
using	ControlVector = Eigen::VectorXd

using	Ptr = std::shared_ptr< ControllerInterface >

using	StateVector = Eigen::VectorXd

using	UPtr = std::unique_ptr< ControllerInterface >

Public Member Functions
	DualModeController ()=default

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

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

int	getControlInputDimension () const override
	Return the control input dimension. More...

ControllerInterface::Ptr	getInstance () const override
	Return a newly created shared instance of the implemented class. More...

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

ControllerStatistics::Ptr	getStatistics () const override

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

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

bool	providesFutureControls () const override

bool	providesFutureStates () const override

void	reset () override
	Reset internal controller state and caches. More...

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

void	setLocalController (ControllerInterface::Ptr local_controller)

bool	setWeightS (const Eigen::Ref< const Eigen::MatrixXd > &S)

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="") override

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

Public Member Functions inherited from corbo::ControllerInterface
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	~ControllerInterface ()
	Virtual destructor. More...

Static Public Member Functions
static Ptr	getInstanceStatic ()

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

Protected Member Functions
bool	isInsideInTerminalBall (const Eigen::Ref< const Eigen::VectorXd > &x0, const Eigen::Ref< const Eigen::VectorXd > &xf) const

Private Attributes
bool	_first_run = true

double	_gamma = 0.0

bool	_initialized = false

ControllerInterface::Ptr	_local_controller

bool	_local_ctrl_active = false

double	_min_dt = 0

PredictiveController	_pred_controller

Eigen::MatrixXd	_S

ControllerStatistics	_statistics

bool	_switch_dt = false

bool	_switch_terminal_ball = false

Detailed Description

Dual mode controller.

Use predictive controller until some conditions are satisfied (terminal region, min dt) and then switch to an LQR.

See also: ControllerInterface 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 69 of file dual_mode_controller.h.

Member Typedef Documentation

◆ Ptr

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

Definition at line 94 of file dual_mode_controller.h.

Constructor & Destructor Documentation

◆ DualModeController()

corbo::DualModeController::DualModeController ( )

default

Member Function Documentation

◆ getAvailableSignals()

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

overridevirtual

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 from corbo::ControllerInterface.

Definition at line 129 of file dual_mode_controller.cpp.

◆ getControlDuration()

double corbo::DualModeController::getControlDuration ( ) const

inlineoverridevirtual

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

Reimplemented from corbo::ControllerInterface.

Definition at line 133 of file dual_mode_controller.h.

◆ getControlInputDimension()

int corbo::DualModeController::getControlInputDimension ( ) const

inlineoverridevirtual

Return the control input dimension.

Implements corbo::ControllerInterface.

Definition at line 99 of file dual_mode_controller.h.

◆ getInstance()

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

inlineoverridevirtual

Return a newly created shared instance of the implemented class.

Implements corbo::ControllerInterface.

Definition at line 119 of file dual_mode_controller.h.

◆ getInstanceStatic()

static Ptr corbo::DualModeController::getInstanceStatic ( )

inlinestatic

Definition at line 120 of file dual_mode_controller.h.

◆ getStateDimension()

int corbo::DualModeController::getStateDimension ( ) const

inlineoverridevirtual

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

Implements corbo::ControllerInterface.

Definition at line 101 of file dual_mode_controller.h.

◆ getStatistics()

ControllerStatistics::Ptr corbo::DualModeController::getStatistics ( ) const

inlineoverridevirtual

Reimplemented from corbo::ControllerInterface.

Definition at line 153 of file dual_mode_controller.h.

◆ hasPiecewiseConstantControls()

bool corbo::DualModeController::hasPiecewiseConstantControls ( ) const

inlineoverridevirtual

Return true if the controller returns piecewise constant control pieces.

Returns: true if the controls are piecewise constant

Implements corbo::ControllerInterface.

Definition at line 103 of file dual_mode_controller.h.

◆ initialize()

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

overridevirtual

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 from corbo::ControllerInterface.

Definition at line 55 of file dual_mode_controller.cpp.

◆ isInsideInTerminalBall()

bool corbo::DualModeController::isInsideInTerminalBall	(	const Eigen::Ref< const Eigen::VectorXd > &	x0,
		const Eigen::Ref< const Eigen::VectorXd > &	xf
	)		const

protected

Definition at line 123 of file dual_mode_controller.cpp.

◆ providesFutureControls()

bool corbo::DualModeController::providesFutureControls ( ) const

inlineoverridevirtual

Implements corbo::ControllerInterface.

Definition at line 108 of file dual_mode_controller.h.

◆ providesFutureStates()

bool corbo::DualModeController::providesFutureStates ( ) const

inlineoverridevirtual

Implements corbo::ControllerInterface.

Definition at line 113 of file dual_mode_controller.h.

◆ reset()

void corbo::DualModeController::reset ( )

overridevirtual

Reset internal controller state and caches.

Implements corbo::ControllerInterface.

Definition at line 137 of file dual_mode_controller.cpp.

◆ sendSignals()

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

overridevirtual

Reimplemented from corbo::ControllerInterface.

Definition at line 145 of file dual_mode_controller.cpp.

◆ setLocalController()

void corbo::DualModeController::setLocalController ( ControllerInterface::Ptr local_controller )

inline

Definition at line 140 of file dual_mode_controller.h.

◆ setWeightS()

bool corbo::DualModeController::setWeightS ( const Eigen::Ref< const Eigen::MatrixXd > & S )

Definition at line 156 of file dual_mode_controller.cpp.

◆ step()

bool corbo::DualModeController::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 = `""`
	)

overridevirtual

Implements corbo::ControllerInterface.

Definition at line 78 of file dual_mode_controller.cpp.

◆ supportsAsynchronousControl()

bool corbo::DualModeController::supportsAsynchronousControl ( ) const

inlineoverridevirtual

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

Reimplemented from corbo::ControllerInterface.

Definition at line 143 of file dual_mode_controller.h.

Member Data Documentation

◆ _first_run

bool corbo::DualModeController::_first_run = true

private

Definition at line 190 of file dual_mode_controller.h.

◆ _gamma

double corbo::DualModeController::_gamma = 0.0

private

Definition at line 186 of file dual_mode_controller.h.

◆ _initialized

bool corbo::DualModeController::_initialized = false

private

Definition at line 192 of file dual_mode_controller.h.

◆ _local_controller

ControllerInterface::Ptr corbo::DualModeController::_local_controller

private

Definition at line 178 of file dual_mode_controller.h.

◆ _local_ctrl_active

bool corbo::DualModeController::_local_ctrl_active = false

private

Definition at line 183 of file dual_mode_controller.h.

◆ _min_dt

double corbo::DualModeController::_min_dt = 0

private

Definition at line 188 of file dual_mode_controller.h.

◆ _pred_controller

PredictiveController corbo::DualModeController::_pred_controller

private

Definition at line 177 of file dual_mode_controller.h.

◆ _S

Eigen::MatrixXd corbo::DualModeController::_S

private

Definition at line 185 of file dual_mode_controller.h.

◆ _statistics

ControllerStatistics corbo::DualModeController::_statistics

private

Definition at line 175 of file dual_mode_controller.h.

◆ _switch_dt

bool corbo::DualModeController::_switch_dt = false

private

Definition at line 180 of file dual_mode_controller.h.

◆ _switch_terminal_ball

bool corbo::DualModeController::_switch_terminal_ball = false

private

Definition at line 181 of file dual_mode_controller.h.

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

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ Ptr

Constructor & Destructor Documentation

◆ DualModeController()

Member Function Documentation

◆ getAvailableSignals()

◆ getControlDuration()

◆ getControlInputDimension()

◆ getInstance()

◆ getInstanceStatic()

◆ getStateDimension()

◆ getStatistics()

◆ hasPiecewiseConstantControls()

◆ initialize()

◆ isInsideInTerminalBall()

◆ providesFutureControls()

◆ providesFutureStates()

◆ reset()

◆ sendSignals()

◆ setLocalController()

◆ setWeightS()

◆ step()

◆ supportsAsynchronousControl()

Member Data Documentation

◆ _first_run

◆ _gamma

◆ _initialized

◆ _local_controller

◆ _local_ctrl_active

◆ _min_dt

◆ _pred_controller

◆ _S

◆ _statistics

◆ _switch_dt

◆ _switch_terminal_ball