FiniteHorizonLinearQuadraticRegulatorResult Struct Reference

Detailed Description

A structure that contains the basic FiniteHorizonLinearQuadraticRegulator results.

The finite-horizon cost-to-go is given by (x-x0(t))'S(t)(x-x0(t)) + 2*(x-x₀(t))'sₓ(t) + s₀(t) and the optimal controller is given by u-u0(t) = -K(t)*(x-x₀(t)) - k₀(t). Please don't overlook the factor of 2 in front of the sₓ(t) term.

#include <drake/systems/controllers/finite_horizon_linear_quadratic_regulator.h>

Public Attributes
copyable_unique_ptr< trajectories::Trajectory< double > >	x0
copyable_unique_ptr< trajectories::Trajectory< double > >	u0
copyable_unique_ptr< trajectories::Trajectory< double > >	K
	Note: This K is the K_x term in the derivation notes. More...
copyable_unique_ptr< trajectories::Trajectory< double > >	S
copyable_unique_ptr< trajectories::Trajectory< double > >	k0
copyable_unique_ptr< trajectories::Trajectory< double > >	sx
copyable_unique_ptr< trajectories::Trajectory< double > >	s0

Member Data Documentation

K

copyable_unique_ptr<trajectories::Trajectory<double> > K

Note: This K is the K_x term in the derivation notes.

k0

copyable_unique_ptr<trajectories::Trajectory<double> > k0

S

copyable_unique_ptr<trajectories::Trajectory<double> > S

s0

copyable_unique_ptr<trajectories::Trajectory<double> > s0

sx

copyable_unique_ptr<trajectories::Trajectory<double> > sx

u0

copyable_unique_ptr<trajectories::Trajectory<double> > u0

x0

copyable_unique_ptr<trajectories::Trajectory<double> > x0

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The documentation for this struct was generated from the following file:

• drake/systems/controllers/finite_horizon_linear_quadratic_regulator.h