lqr_controller.h

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/*********************************************************************
 *
 *  Software License Agreement
 *
 *  Copyright (c) 2020,
 *  TU Dortmund - Institute of Control Theory and Systems Engineering.
 *  All rights reserved.
 *
 *  This program is free software: you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation, either version 3 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program.  If not, see <https://www.gnu.org/licenses/>.
 *
 *  Authors: Christoph Rösmann
 *********************************************************************/
 
#ifndef SRC_CONTROLLERS_INCLUDE_CORBO_CONTROLLERS_LQR_CONTROLLER_H_
#define SRC_CONTROLLERS_INCLUDE_CORBO_CONTROLLERS_LQR_CONTROLLER_H_
 
#include <corbo-controllers/controller_interface.h>
#include <corbo-systems/system_dynamics_interface.h>
#include <memory>
 
namespace corbo {
 
class LqrController : public ControllerInterface
{
 public:
    using Ptr = std::shared_ptr<LqrController>;
 
    LqrController();
    explicit LqrController(SystemDynamicsInterface::Ptr system_model);
 
    // implements interface method
    int getControlInputDimension() const override { return _system_model ? _system_model->getInputDimension() : 0; }
    // implements interface method
    int getStateDimension() const override { return _system_model ? _system_model->getStateDimension() : 0; }
    // implements interface method
    bool hasPiecewiseConstantControls() const override { return false; }
    // implements interface method
    bool providesFutureControls() const override { return false; }
    // implements interface method
    bool providesFutureStates() const override { return false; }
 
    // implements interface method
    ControllerInterface::Ptr getInstance() const override { return std::make_shared<LqrController>(); }
 
    void setSystemModel(SystemDynamicsInterface::Ptr system_model);
 
    bool setWeights(const Eigen::Ref<const Eigen::MatrixXd>& R, const Eigen::Ref<const Eigen::MatrixXd>& Q);
 
    bool setWeightR(const Eigen::Ref<const Eigen::MatrixXd>& R);
    bool setWeightQ(const Eigen::Ref<const Eigen::MatrixXd>& Q);
 
    // implements interface method
    bool initialize(const StateVector& x, ReferenceTrajectoryInterface& expected_xref, ReferenceTrajectoryInterface& expected_uref,
                    const Duration& expected_dt, const Time& t, ReferenceTrajectoryInterface* sref = nullptr) override;
 
    // implements interface method
    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;
 
    // implements interface method
    void getAvailableSignals(SignalTargetInterface& signal_target, const std::string& ns = "") const override;
 
    ControllerStatistics::Ptr getStatistics() const override { return {}; }
 
#ifdef MESSAGE_SUPPORT
    void toMessage(corbo::messages::LqrController& message) const;
    void fromMessage(const corbo::messages::LqrController& message, std::stringstream* issues = nullptr);
    // implements interface method
    void toMessage(corbo::messages::Controller& message) const override { toMessage(*message.mutable_lqr_controller()); }
    // implements interface method
    void fromMessage(const corbo::messages::Controller& message, std::stringstream* issues = nullptr) override
    {
        fromMessage(message.lqr_controller(), issues);
    }
#endif
 
    // implements interface method
    void reset() override;
 
    void setPublishError(bool publish) { _publish_error = publish; }
 
 private:
    SystemDynamicsInterface::Ptr _system_model;
    bool _discrete_time = false;
 
    bool _initialized = false;
 
    bool _publish_error = true;
 
    double _dt = 0.1;
 
    Eigen::MatrixXd _A;
    Eigen::MatrixXd _B;
 
    Eigen::MatrixXd _R;
    Eigen::MatrixXd _Q;
 
    Eigen::MatrixXd _S;
 
    Eigen::MatrixXd _K;
};
 
FACTORY_REGISTER_CONTROLLER(LqrController)
 
}  // namespace corbo
 
#endif  // SRC_CONTROLLERS_INCLUDE_CORBO_CONTROLLERS_LQR_CONTROLLER_H_