#include <balance_gazebo_control.h>
Public Member Functions | |
BalanceControl () | |
double * | getControl () |
Set up the output array. | |
void | resetControl () |
Resets all state and control variables. | |
void | stepControl (double dt, const double(&x_desired)[4], const double(&y_fbk)[4]) |
Integrates control and models. | |
Private Attributes | |
double | dx_hat [4] |
double | t |
double | u_output [2] |
double | x_adjust [4] |
double | x_hat [4] |
double | x_r [4] |
double | x_reference [4] |
Controller with simplest interface. Just enough to work.
Definition at line 34 of file balance_gazebo_control.h.
Definition at line 11 of file balance_gazebo_control.cpp.
double * balance_control::BalanceControl::getControl | ( | ) |
Set up the output array.
Returns the address of the actuator torque array[2]
Definition at line 132 of file balance_gazebo_control.cpp.
Resets all state and control variables.
Useful when instantiating and reseting the control.
Definition at line 18 of file balance_gazebo_control.cpp.
void balance_control::BalanceControl::stepControl | ( | double | dt, |
const double(&) | x_desired[4], | ||
const double(&) | y_fbk[4] | ||
) |
Integrates control and models.
Integrates control with Euler method.
dt | Step period. |
x_desired | Input array[4] for goal state |
y_fbk | Array[4] for sensor readings |
Definition at line 39 of file balance_gazebo_control.cpp.
double balance_control::BalanceControl::dx_hat[4] [private] |
Definition at line 46 of file balance_gazebo_control.h.
double balance_control::BalanceControl::t [private] |
Definition at line 44 of file balance_gazebo_control.h.
double balance_control::BalanceControl::u_output[2] [private] |
Definition at line 50 of file balance_gazebo_control.h.
double balance_control::BalanceControl::x_adjust[4] [private] |
Definition at line 49 of file balance_gazebo_control.h.
double balance_control::BalanceControl::x_hat[4] [private] |
Definition at line 45 of file balance_gazebo_control.h.
double balance_control::BalanceControl::x_r[4] [private] |
Definition at line 48 of file balance_gazebo_control.h.
double balance_control::BalanceControl::x_reference[4] [private] |
Definition at line 47 of file balance_gazebo_control.h.