Acrobot

Detailed Description

Systems related to the Acrobot example.

Classes
class	AcrobotGeometry
	Expresses an AcrobotPlant's geometry to a SceneGraph. More...
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...
class	AcrobotSpongController< T >
	The Spong acrobot swing-up controller as described in: Spong, Mark W. 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.

Function Documentation

BalancingLQRController()

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.