iCub::ctrl::Riccati Class Reference

Classic Riccati recursive formula for optimal control in a LQ problem. More...

#include <optimalControl.h>

Public Member Functions
	Riccati (const yarp::sig::Matrix &_A, const yarp::sig::Matrix &_B, const yarp::sig::Matrix &_V, const yarp::sig::Matrix &_P, const yarp::sig::Matrix &_VN, bool verb=false)
	Constructor, with initialization of algebraic Riccati equation.
yarp::sig::Matrix	L (int step)
	Get stored L_i matrix; call this function only after solveRiccati()
yarp::sig::Matrix	T (int step)
	Get stored T_i matrix; call this function only after solveRiccati()
void	setProblemData (const yarp::sig::Matrix &_A, const yarp::sig::Matrix &_B, const yarp::sig::Matrix &_V, const yarp::sig::Matrix &_P, const yarp::sig::Matrix &_VN)
	Initialization of algebraic Riccati equation.
void	solveRiccati (int steps)
	Solve recursively discrete algebraic Riccati equation (DARE) and stores matrices Ti and Li, where i=0:N-1 is the time index.
yarp::sig::Vector	doLQcontrol (int step, const yarp::sig::Vector &x)
	Compute the LQ feedback control, in the form: ret= - L(i) * x.
void	doLQcontrol (int step, const yarp::sig::Vector &x, yarp::sig::Vector &ret)
	Compute the LQ feedback control, in the form: u= - L(i) * x.
void	setVerbose (bool verb=true)
	Enable or disable verbose feedback (that is, printing additional information)

Protected Attributes
yarp::sig::Matrix	A
yarp::sig::Matrix	At
yarp::sig::Matrix	B
yarp::sig::Matrix	Bt
yarp::sig::Matrix	V
yarp::sig::Matrix	VN
yarp::sig::Matrix	P
yarp::sig::Matrix	TN
yarp::sig::Matrix	lastT
yarp::sig::Matrix *	Ti
yarp::sig::Matrix *	Li
yarp::sig::Vector	x
size_t	n
size_t	m
int	N
bool	verbose

Detailed Description

Classic Riccati recursive formula for optimal control in a LQ problem.

Definition at line 79 of file optimalControl.h.

Constructor & Destructor Documentation

Riccati()

Riccati::Riccati	(	const yarp::sig::Matrix &	_A,
		const yarp::sig::Matrix &	_B,
		const yarp::sig::Matrix &	_V,
		const yarp::sig::Matrix &	_P,
		const yarp::sig::Matrix &	_VN,
		bool	verb = false
	)

Constructor, with initialization of algebraic Riccati equation.

Parameters

_A	State transition matrix
_B	Control matrix
_V	State cost matrix
_P	Control cost matrix
_VN	Final state cost matrix

Definition at line 26 of file optimalControl.cpp.

Member Function Documentation

doLQcontrol() [1/2]

yarp::sig::Vector iCub::ctrl::Riccati::doLQcontrol	(	int	step,
		const yarp::sig::Vector &	x
	)

Compute the LQ feedback control, in the form: ret= - L(i) * x.

Parameters

step	The time index i
x	The state vector

doLQcontrol() [2/2]

void iCub::ctrl::Riccati::doLQcontrol	(	int	step,
		const yarp::sig::Vector &	x,
		yarp::sig::Vector &	ret
	)

Compute the LQ feedback control, in the form: u= - L(i) * x.

Parameters

step	The time index i
x	The state vector
ret	The control vector

L()

Matrix Riccati::L

(

int

step

)

Get stored L_i matrix; call this function only after solveRiccati()

Parameters

step	The time index of the i-th matrix

Definition at line 56 of file optimalControl.cpp.

setProblemData()

void Riccati::setProblemData	(	const yarp::sig::Matrix &	_A,
		const yarp::sig::Matrix &	_B,
		const yarp::sig::Matrix &	_V,
		const yarp::sig::Matrix &	_P,
		const yarp::sig::Matrix &	_VN
	)

Initialization of algebraic Riccati equation.

Parameters

_A	State transition matrix
_B	Control matrix
_V	State cost matrix
_P	Control cost matrix
_VN	Final state cost matrix

Definition at line 94 of file optimalControl.cpp.

setVerbose()

void Riccati::setVerbose

(

bool

verb = true

)

Enable or disable verbose feedback (that is, printing additional information)

Parameters

verb	Flag for verbose mode

Definition at line 49 of file optimalControl.cpp.

solveRiccati()

void Riccati::solveRiccati

(

int

steps

)

Solve recursively discrete algebraic Riccati equation (DARE) and stores matrices Ti and Li, where i=0:N-1 is the time index.

Parameters

steps

The number N of steps of the finite horizon controller

Definition at line 113 of file optimalControl.cpp.

T()

Matrix Riccati::T

(

int

step

)

Get stored T_i matrix; call this function only after solveRiccati()

Parameters

step	The time index of the i-th matrix

Definition at line 75 of file optimalControl.cpp.

Member Data Documentation

A

yarp::sig::Matrix iCub::ctrl::Riccati::A

protected

Definition at line 82 of file optimalControl.h.

At

yarp::sig::Matrix iCub::ctrl::Riccati::At

protected

Definition at line 82 of file optimalControl.h.

B

yarp::sig::Matrix iCub::ctrl::Riccati::B

protected

Definition at line 83 of file optimalControl.h.

Bt

yarp::sig::Matrix iCub::ctrl::Riccati::Bt

protected

Definition at line 83 of file optimalControl.h.

lastT

yarp::sig::Matrix iCub::ctrl::Riccati::lastT

protected

Definition at line 87 of file optimalControl.h.

Li

yarp::sig::Matrix* iCub::ctrl::Riccati::Li

protected

Definition at line 89 of file optimalControl.h.

m

size_t iCub::ctrl::Riccati::m

protected

Definition at line 94 of file optimalControl.h.

n

size_t iCub::ctrl::Riccati::n

protected

Definition at line 93 of file optimalControl.h.

N

int iCub::ctrl::Riccati::N

protected

Definition at line 95 of file optimalControl.h.

P

yarp::sig::Matrix iCub::ctrl::Riccati::P

protected

Definition at line 85 of file optimalControl.h.

Ti

yarp::sig::Matrix* iCub::ctrl::Riccati::Ti

protected

Definition at line 88 of file optimalControl.h.

TN

yarp::sig::Matrix iCub::ctrl::Riccati::TN

protected

Definition at line 87 of file optimalControl.h.

V

yarp::sig::Matrix iCub::ctrl::Riccati::V

protected

Definition at line 84 of file optimalControl.h.

verbose

bool iCub::ctrl::Riccati::verbose

protected

Definition at line 97 of file optimalControl.h.

VN

yarp::sig::Matrix iCub::ctrl::Riccati::VN

protected

Definition at line 84 of file optimalControl.h.

x

yarp::sig::Vector iCub::ctrl::Riccati::x

protected

Definition at line 91 of file optimalControl.h.

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

• icub-main/src/libraries/ctrlLib/include/iCub/ctrl/optimalControl.h
• icub-main/src/libraries/ctrlLib/src/optimalControl.cpp