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Drake
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Drake
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Classes | |
| class | AcrobotGeometry |
| Expresses an AcrobotPlant's geometry to a SceneGraph. More... | |
| class | AcrobotInput |
| Specializes BasicVector with specific getters and setters. More... | |
| struct | AcrobotInputIndices |
| Describes the row indices of a AcrobotInput. More... | |
| class | AcrobotParams |
| Specializes BasicVector with specific getters and setters. More... | |
| struct | AcrobotParamsIndices |
| Describes the row indices of a AcrobotParams. More... | |
| class | AcrobotPlant |
| The Acrobot - a canonical underactuated system as described in Chapter 3 of Underactuated Robotics. More... | |
| class | AcrobotSpongController |
| The Spong acrobot swing-up controller as described in: Spong, Mark W. More... | |
| class | AcrobotState |
| Specializes BasicVector with specific getters and setters. More... | |
| struct | AcrobotStateIndices |
| Describes the row indices of a AcrobotState. More... | |
| class | AcrobotWEncoder |
| Constructs the Acrobot with (only) encoder outputs. More... | |
| class | SpongControllerParams |
| Specializes BasicVector with specific getters and setters. More... | |
| struct | SpongControllerParamsIndices |
| Describes the row indices of a SpongControllerParams. 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. | |