Drake
drake::examples::acrobot Namespace Reference

Classes

class  AcrobotCommandReceiver
 Receives the output of an LcmSubscriberSystem that subscribes to the acrobot input channel with LCM type lcmt_acrobot_u, and outputs the acrobot input as a BasicVector. More...
 
class  AcrobotCommandSender
 Receives the output of an acrobot controller, and outputs it as an LCM message with type lcm_acrobot_u. More...
 
class  AcrobotPlant
 The Acrobot - a canonical underactuated system as described in Chapter 3 of Underactuated Robotics. More...
 
class  AcrobotSpongController
 
class  AcrobotStateReceiver
 Receives the output of an LcmSubsriberSystem that subsribes to the acrobot state channel with LCM type lcmt_acrobot_x, and outputs the acrobot states as an AcrobotStateVector. More...
 
class  AcrobotStateSender
 Receives the output of an acrobot_plant, and outputs it as an LCM message with type lcm_acrobot_x. More...
 
class  AcrobotStateVector
 Specializes BasicVector with specific getters and setters. More...
 
struct  AcrobotStateVectorIndices
 Describes the row indices of a AcrobotStateVector. More...
 
class  AcrobotWEncoder
 Constructs the Acrobot with (only) encoder outputs. More...
 

Functions

std::unique_ptr< systems::AffineSystem< double > > BalancingLQRController (const AcrobotPlant< double > &acrobot)
 Constructs the LQR controller for stabilizing the upright fixed point using default LQR cost matrices which have been tested for this system. More...
 

Variables

static const int kNumJoints = 2
 

Function Documentation

std::unique_ptr< systems::AffineSystem< double > > BalancingLQRController ( const AcrobotPlant< double > &  acrobot)

Constructs the LQR controller for stabilizing the upright fixed point using default LQR cost matrices which have been tested for this system.

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Variable Documentation

const int kNumJoints = 2
static