smooth::feedback::ASIFilter< G, U, Dyn, DT > Class Template Reference

ASI Filter. More...

#include <asif.hpp>

Public Member Functions
	ASIFilter (const Dyn &f, const ASIFilterParams< U > &prm=ASIFilterParams< U >{})
	Construct an ASI filter. More...
	ASIFilter (Dyn &&f, ASIFilterParams< U > &&prm=ASIFilterParams< U >{})
	Construct an ASI filter (rvalue version). More...
std::pair< U, QPSolutionStatus >	operator() (const G &g, const U &u_des, auto &&h, auto &&bu)
	Filter an input. More...

Detailed Description

template<LieGroup G, Manifold U, typename Dyn, diff::Type DT = diff::Type::Default>
class smooth::feedback::ASIFilter< G, U, Dyn, DT >

ASI Filter.

Thin wrapper around asif_to_qp() and solve_qp() that keeps track of the most recent solution for warmstarting, and facilitates working with time-varying problems.

Definition at line 42 of file asif.hpp.

Constructor & Destructor Documentation

ASIFilter() [1/2]

template<LieGroup G, Manifold U, typename Dyn , diff::Type DT = diff::Type::Default>

smooth::feedback::ASIFilter< G, U, Dyn, DT >::ASIFilter ( const Dyn &  f, const ASIFilterParams< U > &  prm = ASIFilterParams<U>{}  )

inline

Construct an ASI filter.

Parameters

f	dynamics as function \( \mathbb{R} \times \mathbb{G} \times \mathbb{U} \rightarrow \mathbb{R}^{\dim \mathbb{G}} \)
prm	filter parameters

Definition at line 52 of file asif.hpp.

ASIFilter() [2/2]

template<LieGroup G, Manifold U, typename Dyn , diff::Type DT = diff::Type::Default>

smooth::feedback::ASIFilter< G, U, Dyn, DT >::ASIFilter ( Dyn &&  f, ASIFilterParams< U > &&  prm = ASIFilterParams<U>{}  )

inline

Construct an ASI filter (rvalue version).

Definition at line 59 of file asif.hpp.

Member Function Documentation

operator()()

template<LieGroup G, Manifold U, typename Dyn , diff::Type DT = diff::Type::Default>

std::pair< U, QPSolutionStatus > smooth::feedback::ASIFilter< G, U, Dyn, DT >::operator() ( const G &  g, const U &  u_des, auto &&  h, auto &&  bu  )

inline

Filter an input.

Parameters

t	current global time
g	current state
u_des	nominal (desired) control input
h	safety set definition as function \( \mathbb{R} \times \mathbb{G} \rightarrow \mathbb{R}^{n_h} \)
bu	backup controller as function \( \mathbb{R} \times \mathbb{G} \rightarrow \mathbb{U} \)

Note

h and bu are defined w.r.t the current time. That is, the safety set at global time \(\tau\) is \( S(\tau) = \{ h(\tau - t) \geq 0 \} \), and the backup controll action is \( u(\tau, x) = bu(\tau - t, x ) \).

Returns

{u, code}: safe control input and QP solver code

Definition at line 82 of file asif.hpp.

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

• include/smooth/feedback/asif.hpp