Public Member Functions | Public Attributes | List of all members
rats::riccati_equation< dim > Struct Template Reference

#include <PreviewController.h>

Public Member Functions

 riccati_equation ()
 
 riccati_equation (const Eigen::Matrix< double, dim, dim > &_A, const Eigen::Matrix< double, dim, 1 > &_b, const Eigen::Matrix< double, 1, dim > &_c, const double _Q, const double _R)
 
bool solve ()
 
virtual ~riccati_equation ()
 

Public Attributes

Eigen::Matrix< double, dim, dim > A
 
Eigen::Matrix< double, dim, dim > A_minus_bKt
 
Eigen::Matrix< double, dim, 1 > b
 
Eigen::Matrix< double, 1, dim > c
 
Eigen::Matrix< double, 1, dim > K
 
Eigen::Matrix< double, dim, dim > P
 
double Q
 
double R
 
double R_btPb_inv
 

Detailed Description

template<std::size_t dim>
struct rats::riccati_equation< dim >

Definition at line 15 of file PreviewController.h.

Constructor & Destructor Documentation

template<std::size_t dim>
rats::riccati_equation< dim >::riccati_equation ( )
inline

Definition at line 26 of file PreviewController.h.

template<std::size_t dim>
rats::riccati_equation< dim >::riccati_equation ( const Eigen::Matrix< double, dim, dim > &  _A,
const Eigen::Matrix< double, dim, 1 > &  _b,
const Eigen::Matrix< double, 1, dim > &  _c,
const double  _Q,
const double  _R 
)
inline

Definition at line 29 of file PreviewController.h.

template<std::size_t dim>
virtual rats::riccati_equation< dim >::~riccati_equation ( )
inlinevirtual

Definition at line 32 of file PreviewController.h.

Member Function Documentation

template<std::size_t dim>
bool rats::riccati_equation< dim >::solve ( )
inline

Definition at line 33 of file PreviewController.h.

Member Data Documentation

template<std::size_t dim>
Eigen::Matrix<double, dim, dim> rats::riccati_equation< dim >::A

Definition at line 17 of file PreviewController.h.

template<std::size_t dim>
Eigen::Matrix<double, dim, dim> rats::riccati_equation< dim >::A_minus_bKt

Definition at line 22 of file PreviewController.h.

template<std::size_t dim>
Eigen::Matrix<double, dim, 1> rats::riccati_equation< dim >::b

Definition at line 18 of file PreviewController.h.

template<std::size_t dim>
Eigen::Matrix<double, 1, dim> rats::riccati_equation< dim >::c

Definition at line 19 of file PreviewController.h.

template<std::size_t dim>
Eigen::Matrix<double, 1, dim> rats::riccati_equation< dim >::K

Definition at line 21 of file PreviewController.h.

template<std::size_t dim>
Eigen::Matrix<double, dim, dim> rats::riccati_equation< dim >::P

Definition at line 20 of file PreviewController.h.

template<std::size_t dim>
double rats::riccati_equation< dim >::Q

Definition at line 23 of file PreviewController.h.

template<std::size_t dim>
double rats::riccati_equation< dim >::R

Definition at line 23 of file PreviewController.h.

template<std::size_t dim>
double rats::riccati_equation< dim >::R_btPb_inv

Definition at line 24 of file PreviewController.h.


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


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Thu May 6 2021 02:41:54