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Drake
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Drake
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Systems related to the Acrobot example.
Classes | |
| class | AcrobotGeometry |
| Expresses an AcrobotPlant's geometry to a SceneGraph. More... | |
| 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 AcrobotState. More... | |
| class | AcrobotCommandSender |
| Receives the output of an acrobot controller, and outputs it as an LCM message with type lcm_acrobot_u. More... | |
| 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 | AcrobotStateSender |
| Receives the output of an acrobot_plant, and outputs it as an LCM message with type lcm_acrobot_x. 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. More... | |
| std::unique_ptr<systems::AffineSystem<double> > drake::examples::acrobot::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.