finite_horizon_linear_quadratic_regulator.h File Reference

#include <memory>
#include <optional>
#include <variant>
#include "drake/common/copyable_unique_ptr.h"
#include "drake/common/trajectories/piecewise_polynomial.h"
#include "drake/systems/analysis/simulator_config.h"
#include "drake/systems/framework/system.h"

Include dependency graph for finite_horizon_linear_quadratic_regulator.h:

Classes
struct	FiniteHorizonLinearQuadraticRegulatorOptions
	A structure to facilitate passing the myriad of optional arguments to the FiniteHorizonLinearQuadraticRegulator algorithms. More...
struct	FiniteHorizonLinearQuadraticRegulatorResult
	A structure that contains the basic FiniteHorizonLinearQuadraticRegulator results. More...

Namespaces
	drake
	drake::systems
	drake::systems::controllers

Functions
FiniteHorizonLinearQuadraticRegulatorResult	FiniteHorizonLinearQuadraticRegulator (const System< double > &system, const Context< double > &context, double t0, double tf, const Eigen::Ref< const Eigen::MatrixXd > &Q, const Eigen::Ref< const Eigen::MatrixXd > &R, const FiniteHorizonLinearQuadraticRegulatorOptions &options=FiniteHorizonLinearQuadraticRegulatorOptions())
	Solves the differential Riccati equation to compute the optimal controller and optimal cost-to-go for the finite-horizon linear quadratic regulator: More...
std::unique_ptr< System< double > >	MakeFiniteHorizonLinearQuadraticRegulator (const System< double > &system, const Context< double > &context, double t0, double tf, const Eigen::Ref< const Eigen::MatrixXd > &Q, const Eigen::Ref< const Eigen::MatrixXd > &R, const FiniteHorizonLinearQuadraticRegulatorOptions &options=FiniteHorizonLinearQuadraticRegulatorOptions())
	Variant of FiniteHorizonLinearQuadraticRegulator that returns a System implementing the regulator (controller) as a System, with a single "plant_state" input for the estimated plant state, and a single "control" output for the regulator control output. More...