iDynTree::optimalcontrol::Controller class
#include <iDynTree/Controller.h>

Class describing a generic controller.

Constructors, destructors, conversion operators

Controller(size_t controlSpaceSize): Controller's constructor.
~Controller() virtual

Public functions

auto doControl(VectorDynSize& controllerOutput) -> bool pure virtual: Evaluate the control action.
auto setStateFeedback(double time, const VectorDynSize& stateFeedback) -> bool virtual: Set the state feedback to be used inside the controller.
auto controlSpaceSize() -> size_t: The dimension of control space.

Function documentation

iDynTree::optimalcontrol::Controller::Controller(size_t controlSpaceSize)

Controller's constructor.

Parameters
controlSpaceSize in	The control space dimension.

bool iDynTree::optimalcontrol::Controller::doControl(VectorDynSize& controllerOutput) pure virtual

Evaluate the control action.

Parameters
controllerOutput out	The output of the controller.
Returns	True if successfull.

bool iDynTree::optimalcontrol::Controller::setStateFeedback(double time, const VectorDynSize& stateFeedback) virtual

Set the state feedback to be used inside the controller.

Parameters
time in	The time in which the feedback is obtained.
stateFeedback in	The state feedback
Returns	True if successfull. In this specific class, this methods always outputs false.

If the controller depends upon some outputs of the dynamical system, those outputs should be computed inside this method using the state and time specified.

size_t iDynTree::optimalcontrol::Controller::controlSpaceSize()

The dimension of control space.

Returns	The dimension of control space.