acrobot_plant.h File Reference

#include <memory>
#include "drake/examples/acrobot/acrobot_input.h"
#include "drake/examples/acrobot/acrobot_params.h"
#include "drake/examples/acrobot/acrobot_state.h"
#include "drake/systems/framework/basic_vector.h"
#include "drake/systems/framework/diagram.h"
#include "drake/systems/framework/leaf_system.h"
#include "drake/systems/primitives/affine_system.h"

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Classes
class	AcrobotPlant< T >
	The Acrobot - a canonical underactuated system as described in Chapter 3 of Underactuated Robotics. More...
class	AcrobotWEncoder< T >
	Constructs the Acrobot with (only) encoder outputs. More...

Namespaces
namespace	drake
namespace	drake::examples
namespace	drake::examples::acrobot

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.