Drake
VectorSetpoint< Scalar > Class Template Reference

#include <systems/controllers/setpoint.h>

Public Member Functions

 VectorSetpoint ()
 
 VectorSetpoint (int dim)
 
 VectorSetpoint (const VectorX< Scalar > &pos_d, const VectorX< Scalar > &vel_d, const VectorX< Scalar > &acc_d, const VectorX< Scalar > &Kp, const VectorX< Scalar > &Kd)
 
Scalar ComputeTargetAcceleration (int idx, Scalar pos, Scalar vel) const
 Computes target acceleration using PD feedback + feedforward acceleration. More...
 
VectorX< Scalar > ComputeTargetAcceleration (const VectorX< Scalar > &pos, const VectorX< Scalar > &vel) const
 Computes target acceleration using PD feedback + feedforward acceleration. More...
 
bool is_valid (int dim) const
 
const VectorX< Scalar > & desired_position () const
 
const VectorX< Scalar > & desired_velocity () const
 
const VectorX< Scalar > & desired_acceleration () const
 
const VectorX< Scalar > & Kp () const
 
const VectorX< Scalar > & Kd () const
 
int size () const
 
VectorX< Scalar > & mutable_desired_position ()
 
VectorX< Scalar > & mutable_desired_velocity ()
 
VectorX< Scalar > & mutable_desired_acceleration ()
 
VectorX< Scalar > & mutable_Kp ()
 
VectorX< Scalar > & mutable_Kd ()
 
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
 VectorSetpoint (const VectorSetpoint &)=default
 
VectorSetpointoperator= (const VectorSetpoint &)=default
 
 VectorSetpoint (VectorSetpoint &&)=default
 
VectorSetpointoperator= (VectorSetpoint &&)=default
 

Constructor & Destructor Documentation

VectorSetpoint ( const VectorSetpoint< Scalar > &  )
default
VectorSetpoint ( VectorSetpoint< Scalar > &&  )
default
VectorSetpoint ( )
inline
VectorSetpoint ( int  dim)
inlineexplicit
VectorSetpoint ( const VectorX< Scalar > &  pos_d,
const VectorX< Scalar > &  vel_d,
const VectorX< Scalar > &  acc_d,
const VectorX< Scalar > &  Kp,
const VectorX< Scalar > &  Kd 
)
inline
Parameters
pos_dDesired position
vel_dDesired velocity
acc_dDesired feedforward acceleration
KpPosition gain
KdVelocity gain

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Member Function Documentation

Scalar ComputeTargetAcceleration ( int  idx,
Scalar  pos,
Scalar  vel 
) const
inline

Computes target acceleration using PD feedback + feedforward acceleration.

Parameters
idxIndex
posMeasured position
velMeasured velocity
Returns
Computed acceleration
VectorX<Scalar> ComputeTargetAcceleration ( const VectorX< Scalar > &  pos,
const VectorX< Scalar > &  vel 
) const
inline

Computes target acceleration using PD feedback + feedforward acceleration.

Parameters
idxIndex
posMeasured position
velMeasured velocity
Returns
Computed acceleration

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const VectorX<Scalar>& desired_acceleration ( ) const
inline

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const VectorX<Scalar>& desired_position ( ) const
inline

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const VectorX<Scalar>& desired_velocity ( ) const
inline

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bool is_valid ( int  dim) const
inline
const VectorX<Scalar>& Kd ( ) const
inline

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const VectorX<Scalar>& Kp ( ) const
inline

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VectorX<Scalar>& mutable_desired_acceleration ( )
inline
VectorX<Scalar>& mutable_desired_position ( )
inline
VectorX<Scalar>& mutable_desired_velocity ( )
inline
VectorX<Scalar>& mutable_Kd ( )
inline
VectorX<Scalar>& mutable_Kp ( )
inline
VectorSetpoint& operator= ( const VectorSetpoint< Scalar > &  )
default
VectorSetpoint& operator= ( VectorSetpoint< Scalar > &&  )
default
int size ( ) const
inline

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