Typedefs | Functions | Variables
controller.h File Reference
#include <boost/numeric/ublas/vector.hpp>
#include <boost/numeric/ublas/matrix.hpp>
#include <boost/math/special_functions/fpclassify.hpp>
#include "ros/ros.h"
#include "lyap_control/plant_msg.h"
#include "lyap_control/controller_msg.h"
#include "lyap_control/controller_globals.h"
Include dependency graph for controller.h:
This graph shows which files directly or indirectly include this file:

Go to the source code of this file.


< double > 


void calculate_dx_dot_du (boost::numeric::ublas::matrix< double > &dx_dot_du, ublas_vector &open_loop_dx_dt)
void calculate_u (ublas_vector &D, ublas_vector &open_loop_dx_dt, const double &V_dot_target, boost::numeric::ublas::matrix< double > &dx_dot_du)
void calculate_V_and_damping (double &V_dot_target)
void chatterCallback (const lyap_control::plant_msg &msg)
void initial_error_check (const lyap_control::plant_msg &msg)
void model_definition (const ublas_vector &x, ublas_vector &dxdt, const double t)


static const double g = 1.0
static const double high_saturation_limit [] = {10.0, 10.0}
static const double low_saturation_limit [] = {-10.0, -10.0}
static const double switching_threshold = 0.01
static const double V_dot_target_initial_dB = -100.0

Typedef Documentation

typedef boost::numeric::ublas::vector<double> ublas_vector

Definition at line 5 of file controller.h.

Function Documentation

void calculate_dx_dot_du ( boost::numeric::ublas::matrix< double > &  dx_dot_du,
ublas_vector open_loop_dx_dt 

Definition at line 138 of file controller.cpp.

void calculate_u ( ublas_vector D,
ublas_vector open_loop_dx_dt,
const double &  V_dot_target,
boost::numeric::ublas::matrix< double > &  dx_dot_du 

Definition at line 189 of file controller.cpp.

void calculate_V_and_damping ( double &  V_dot_target)

Definition at line 170 of file controller.cpp.

void chatterCallback ( const lyap_control::plant_msg &  msg)

Definition at line 41 of file controller.cpp.

void initial_error_check ( const lyap_control::plant_msg &  msg)

Definition at line 104 of file controller.cpp.

void model_definition ( const ublas_vector x,
ublas_vector dxdt,
const double  t 

Definition at line 36 of file controller.h.

Variable Documentation

const double g = 1.0 [static]

Definition at line 28 of file controller.h.

const double high_saturation_limit[] = {10.0, 10.0} [static]

Definition at line 24 of file controller.h.

const double low_saturation_limit[] = {-10.0, -10.0} [static]

Definition at line 25 of file controller.h.

const double switching_threshold = 0.01 [static]

Definition at line 31 of file controller.h.

const double V_dot_target_initial_dB = -100.0 [static]

Definition at line 22 of file controller.h.

Author(s): Andy Zelenak
autogenerated on Wed Mar 2 2016 12:14:43