Lqr< T > Class Template Reference

#include <lqr.h>

Public Member Functions
bool	computeK ()
Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic >	getK ()
template<typename TA , typename TB , typename TQ , typename TR >
	Lqr (const Eigen::MatrixBase< TA > &A, const Eigen::MatrixBase< TB > &B, const Eigen::MatrixBase< TQ > &Q, const Eigen::MatrixBase< TR > &R)
bool	solveRiccatiArimotoPotter (const Eigen::MatrixXd &A, const Eigen::MatrixXd &B, const Eigen::MatrixXd &Q, const Eigen::MatrixXd &R, Eigen::MatrixXd &P)

Private Member Functions
bool	isSymmetric (DMat< T > m)

Private Attributes
DMat< T >	a_
DMat< T >	b_
DMat< T >	k_
DMat< T >	q_
DMat< T >	r_

Detailed Description

template<typename T>
class Lqr< T >

Definition at line 45 of file lqr.h.

Constructor & Destructor Documentation

Lqr()

template<typename T >

template<typename TA , typename TB , typename TQ , typename TR >

Lqr< T >::Lqr ( const Eigen::MatrixBase< TA > &  A, const Eigen::MatrixBase< TB > &  B, const Eigen::MatrixBase< TQ > &  Q, const Eigen::MatrixBase< TR > &  R  )

inline

Definition at line 80 of file lqr.h.

Member Function Documentation

computeK()

template<typename T >

bool Lqr< T >::computeK ( )

inline

Definition at line 132 of file lqr.h.

getK()

template<typename T >

Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic> Lqr< T >::getK ( )

inline

Definition at line 158 of file lqr.h.

isSymmetric()

template<typename T >

bool Lqr< T >::isSymmetric ( DMat< T >  m )

inlineprivate

Definition at line 164 of file lqr.h.

solveRiccatiArimotoPotter()

template<typename T >

bool Lqr< T >::solveRiccatiArimotoPotter ( const Eigen::MatrixXd &  A, const Eigen::MatrixXd &  B, const Eigen::MatrixXd &  Q, const Eigen::MatrixXd &  R, Eigen::MatrixXd &  P  )

inline

Definition at line 99 of file lqr.h.

Member Data Documentation

a_

template<typename T >

DMat<T> Lqr< T >::a_

private

Definition at line 177 of file lqr.h.

b_

template<typename T >

DMat<T> Lqr< T >::b_

private

Definition at line 177 of file lqr.h.

k_

template<typename T >

DMat<T> Lqr< T >::k_

private

Definition at line 177 of file lqr.h.

q_

template<typename T >

DMat<T> Lqr< T >::q_

private

Definition at line 177 of file lqr.h.

r_

template<typename T >

DMat<T> Lqr< T >::r_

private

Definition at line 177 of file lqr.h.

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

• lqr.h