PDControlSystem< System > Class Template Reference

PDControlSystem<System> More...

#include <drake/systems/pd_control_system.h>

Public Types
template<typename ScalarType >
using	StateVector = typename System::template StateVector< ScalarType >
template<typename ScalarType >
using	InputVector = typename System::template StateVector< ScalarType >
template<typename ScalarType >
using	OutputVector = typename System::template OutputVector< ScalarType >
typedef std::shared_ptr< System >	SystemPtr

Public Member Functions
template<typename DerivedA , typename DerivedB >
	PDControlSystem (const SystemPtr &sys, const Eigen::MatrixBase< DerivedA > &Kp, const Eigen::MatrixBase< DerivedB > &Kd)
template<typename ScalarType >
StateVector< ScalarType >	dynamics (const ScalarType &t, const StateVector< ScalarType > &x, const InputVector< ScalarType > &u) const
template<typename ScalarType >
OutputVector< ScalarType >	output (const ScalarType &t, const StateVector< ScalarType > &x, const InputVector< ScalarType > &u) const
bool	isTimeVarying () const
bool	isDirectFeedthrough () const
size_t	getNumStates () const
size_t	getNumInputs () const
size_t	getNumOutputs () const
const SystemPtr &	getSys () const

Friends
StateVector< double >	getInitialState (const PDControlSystem< System > &sys)

Detailed Description

template<class System>
class Drake::PDControlSystem< System >

PDControlSystem<System>

Wraps an existing system with a PD controller (the new system represents the closed-loop controller + system)

Implemented concepts:

System Concept

x_d —>[ Kp, Kd ]–>(+)--—>[ sys ]-------—> yout | - | ----—[ Kp, Kd ]<-—

Member Typedef Documentation

using InputVector = typename System::template StateVector<ScalarType>

using OutputVector = typename System::template OutputVector<ScalarType>

using StateVector = typename System::template StateVector<ScalarType>

typedef std::shared_ptr<System> SystemPtr

Constructor & Destructor Documentation

PDControlSystem ( const SystemPtr &  sys, const Eigen::MatrixBase< DerivedA > &  Kp, const Eigen::MatrixBase< DerivedB > &  Kd  )

inline

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Member Function Documentation

StateVector<ScalarType> dynamics ( const ScalarType &  t, const StateVector< ScalarType > &  x, const InputVector< ScalarType > &  u  ) const

inline

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size_t getNumInputs ( ) const

inline

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size_t getNumOutputs ( ) const

inline

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size_t getNumStates ( ) const

inline

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const SystemPtr& getSys ( ) const

inline

bool isDirectFeedthrough ( ) const

inline

bool isTimeVarying ( ) const

inline

OutputVector<ScalarType> output ( const ScalarType &  t, const StateVector< ScalarType > &  x, const InputVector< ScalarType > &  u  ) const

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Friends And Related Function Documentation

StateVector<double> getInitialState ( const PDControlSystem< System > &  sys )

friend

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

• drake/systems/pd_control_system.h