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/* |
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* Copyright 2010 CNRS |
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* |
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* Florent Lamiraux |
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*/ |
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#ifndef DG_TUTORIAL_FEEDBACK_CONTROLLER_HH |
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#define DG_TUTORIAL_FEEDBACK_CONTROLLER_HH |
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#include <dynamic-graph/entity.h> |
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#include <dynamic-graph/linear-algebra.h> |
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#include <dynamic-graph/signal-ptr.h> |
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#include <dynamic-graph/signal-time-dependent.h> |
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namespace dynamicgraph { |
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namespace tutorial { |
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/** |
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\brief Feedback controller for an inverted pendulum |
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This class implements a feedback control for the inverted pendulum |
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represented by class InvertedPendulum |
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*/ |
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class FeedbackController : public Entity { |
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public: |
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/** |
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\brief Constructor by name |
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*/ |
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FeedbackController(const std::string& inName); |
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~FeedbackController(); |
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/// Each entity should provide the name of the class it belongs to |
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virtual const std::string& getClassName(void) const { return CLASS_NAME; } |
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/// Header documentation of the python class |
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virtual std::string getDocString() const { |
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return "Feedback controller aimed at maintaining the pendulum vertical\n"; |
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} |
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/** |
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\name Parameters |
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@{ |
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*/ |
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/** |
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\brief Get feedback gain |
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*/ |
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void setGain(const ::dynamicgraph::Matrix& inGain) { gain_ = inGain; } |
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/** |
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\brief Get feedback gain |
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*/ |
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::dynamicgraph::Matrix getGain() const { return gain_; } |
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/** |
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@} |
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*/ |
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public: |
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/* |
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\brief Class name |
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*/ |
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static const std::string CLASS_NAME; |
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private: |
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/** |
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Compute the control law |
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*/ |
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double& computeForceFeedback(double& force, const int& inTime); |
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/** |
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\brief State of the inverted pendulum |
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*/ |
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SignalPtr< ::dynamicgraph::Vector, int> stateSIN; |
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/** |
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\brief Force computed by the control law |
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*/ |
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SignalTimeDependent<double, int> forceSOUT; |
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/// \brief Gain of the controller |
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::dynamicgraph::Matrix gain_; |
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}; |
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} // namespace tutorial |
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} // namespace dynamicgraph |
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#endif // DG_TUTORIAL_FEEDBACK_CONTROLLER_HH |
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