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Drake
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Drake
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Specializes BasicVector with specific getters and setters.
#include <drake/examples/acrobot/spong_controller_params.h>
Public Types | |
| typedef SpongControllerParamsIndices | K |
| An abbreviation for our row index constants. More... | |
Public Member Functions | |
| SpongControllerParams () | |
| Default constructor. More... | |
| template<typename U = T> | |
| std::enable_if_t< std::is_same_v< U, symbolic::Expression > > | SetToNamedVariables () |
| Create a symbolic::Variable for each element with the known variable name. More... | |
| SpongControllerParams< T > * | DoClone () const final |
| Returns a new BasicVector containing a copy of the entire vector. More... | |
| template<typename Archive > | |
| void | Serialize (Archive *a) |
| Visit each field of this named vector, passing them (in order) to the given Archive. More... | |
| drake::boolean< T > | IsValid () const |
| Returns whether the current values of this vector are well-formed. More... | |
| void | GetElementBounds (Eigen::VectorXd *lower, Eigen::VectorXd *upper) const final |
| Get the bounds for the elements. More... | |
Implements CopyConstructible, CopyAssignable, MoveConstructible, | |
MoveAssignable | |
| SpongControllerParams (const SpongControllerParams &other) | |
| SpongControllerParams (SpongControllerParams &&other) noexcept | |
| SpongControllerParams & | operator= (const SpongControllerParams &other) |
| SpongControllerParams & | operator= (SpongControllerParams &&other) noexcept |
Getters and Setters | |
| const T & | k_e () const |
| Energy shaping gain. More... | |
| void | set_k_e (const T &k_e) |
| Setter that matches k_e(). More... | |
| SpongControllerParams< T > | with_k_e (const T &k_e) const |
| Fluent setter that matches k_e(). More... | |
| const T & | k_p () const |
| Partial feedback linearization proportional gain. More... | |
| void | set_k_p (const T &k_p) |
| Setter that matches k_p(). More... | |
| SpongControllerParams< T > | with_k_p (const T &k_p) const |
| Fluent setter that matches k_p(). More... | |
| const T & | k_d () const |
| Partial feedback linearization derivative gain. More... | |
| void | set_k_d (const T &k_d) |
| Setter that matches k_d(). More... | |
| SpongControllerParams< T > | with_k_d (const T &k_d) const |
| Fluent setter that matches k_d(). More... | |
| const T & | balancing_threshold () const |
| Cost value at which to switch from swing up to balancing. More... | |
| void | set_balancing_threshold (const T &balancing_threshold) |
| Setter that matches balancing_threshold(). More... | |
| SpongControllerParams< T > | with_balancing_threshold (const T &balancing_threshold) const |
| Fluent setter that matches balancing_threshold(). More... | |
 Public Member Functions inherited from BasicVector< T > | |
| BasicVector ()=default | |
| Constructs an empty BasicVector. More... | |
| BasicVector (int size) | |
Initializes with the given size using the drake::dummy_value<T>, which is NaN when T = double. More... | |
| BasicVector (VectorX< T > vec) | |
Constructs a BasicVector with the specified vec data. More... | |
| BasicVector (const std::initializer_list< T > &init) | |
Constructs a BasicVector whose elements are the elements of init. More... | |
| int | size () const final |
| Returns the number of elements in the vector. More... | |
| void | set_value (const Eigen::Ref< const VectorX< T >> &value) |
| Sets the vector to the given value. More... | |
| const VectorX< T > & | value () const |
Returns a const reference to the contained VectorX<T>. More... | |
| Eigen::VectorBlock< VectorX< T > > | get_mutable_value () |
Returns the entire vector as a mutable Eigen::VectorBlock, which allows mutation of the values, but does not allow resize() to be invoked on the returned object. More... | |
| void | SetFromVector (const Eigen::Ref< const VectorX< T >> &value) final |
Replaces the entire vector with the contents of value. More... | |
| VectorX< T > | CopyToVector () const final |
| Copies this entire VectorBase into a contiguous Eigen Vector. More... | |
| void | ScaleAndAddToVector (const T &scale, EigenPtr< VectorX< T >> vec) const final |
Adds a scaled version of this vector to Eigen vector vec. More... | |
| void | SetZero () final |
| Sets all elements of this vector to zero. More... | |
| std::unique_ptr< BasicVector< T > > | Clone () const |
| Copies the entire vector to a new BasicVector, with the same concrete implementation type. More... | |
| Eigen::VectorBlock< const VectorX< T > > | get_value () const |
| (Don't use this in new code) Returns the entire vector as a const Eigen::VectorBlock. More... | |
| BasicVector (const BasicVector &)=delete | |
| BasicVector & | operator= (const BasicVector &)=delete |
| BasicVector (BasicVector &&)=delete | |
| BasicVector & | operator= (BasicVector &&)=delete |
| Public Member Functions inherited from VectorBase< T > | |
| virtual | ~VectorBase () |
| T & | operator[] (int index) |
| Returns the element at the given index in the vector. More... | |
| const T & | operator[] (int index) const |
| Returns the element at the given index in the vector. More... | |
| const T & | GetAtIndex (int index) const |
| Returns the element at the given index in the vector. More... | |
| T & | GetAtIndex (int index) |
| Returns the element at the given index in the vector. More... | |
| void | SetAtIndex (int index, const T &value) |
| Replaces the state at the given index with the value. More... | |
| virtual void | SetFrom (const VectorBase< T > &value) |
Replaces the entire vector with the contents of value. More... | |
| virtual void | CopyToPreSizedVector (EigenPtr< VectorX< T >> vec) const |
| Copies this entire VectorBase into a pre-sized Eigen Vector. More... | |
| VectorBase & | PlusEqScaled (const T &scale, const VectorBase< T > &rhs) |
Add in scaled vector rhs to this vector. More... | |
| VectorBase & | PlusEqScaled (const std::initializer_list< std::pair< T, const VectorBase< T > & >> &rhs_scale) |
| Add in multiple scaled vectors to this vector. More... | |
| VectorBase & | operator+= (const VectorBase< T > &rhs) |
Add in vector rhs to this vector. More... | |
| VectorBase & | operator-= (const VectorBase< T > &rhs) |
Subtract in vector rhs to this vector. More... | |
| VectorBase (const VectorBase &)=delete | |
| VectorBase & | operator= (const VectorBase &)=delete |
| VectorBase (VectorBase &&)=delete | |
| VectorBase & | operator= (VectorBase &&)=delete |
Static Public Member Functions | |
| static const std::vector< std::string > & | GetCoordinateNames () |
| See SpongControllerParamsIndices::GetCoordinateNames(). More... | |
| Static Public Member Functions inherited from BasicVector< T > | |
| static std::unique_ptr< BasicVector< T > > | Make (const std::initializer_list< T > &init) |
Constructs a BasicVector whose elements are the elements of init. More... | |
| template<typename... Fargs> | |
| static std::unique_ptr< BasicVector< T > > | Make (Fargs &&... args) |
Constructs a BasicVector where each element is constructed using the placewise-corresponding member of args as the sole constructor argument. More... | |
Additional Inherited Members | |
| Protected Member Functions inherited from BasicVector< T > | |
| const T & | DoGetAtIndexUnchecked (int index) const final |
| Implementations should ensure this operation is O(1) and allocates no memory. More... | |
| T & | DoGetAtIndexUnchecked (int index) final |
| Implementations should ensure this operation is O(1) and allocates no memory. More... | |
| const T & | DoGetAtIndexChecked (int index) const final |
| Implementations should ensure this operation is O(1) and allocates no memory. More... | |
| T & | DoGetAtIndexChecked (int index) final |
| Implementations should ensure this operation is O(1) and allocates no memory. More... | |
| const VectorX< T > & | values () const |
| Provides const access to the element storage. More... | |
| VectorX< T > & | values () |
| (Advanced) Provides mutable access to the element storage. More... | |
| Protected Member Functions inherited from VectorBase< T > | |
| VectorBase () | |
| void | ThrowOutOfRange (int index) const |
| void | ThrowMismatchedSize (int other_size) const |
| Static Protected Member Functions inherited from BasicVector< T > | |
| template<typename F , typename... Fargs> | |
| static void | MakeRecursive (BasicVector< T > *data, int index, F constructor_arg, Fargs &&... recursive_args) |
Sets data at index to an object of type T, which must have a single-argument constructor invoked via constructor_arg, and then recursively invokes itself on the next index with recursive args. More... | |
| template<typename F , typename... Fargs> | |
| static void | MakeRecursive (BasicVector< T > *data, int index, F constructor_arg) |
| Base case for the MakeRecursive template recursion. More... | |
| typedef SpongControllerParamsIndices K |
An abbreviation for our row index constants.
Default constructor.
Sets all rows to their default value:
k_e defaults to 5.0 s. k_p defaults to 50.0 s^-2. k_d defaults to 5.0 s^-1. balancing_threshold defaults to 1e3 None. | SpongControllerParams | ( | const SpongControllerParams< T > & | other | ) |
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noexcept |
| const T& balancing_threshold | ( | ) | const |
Cost value at which to switch from swing up to balancing.
balancing_threshold is expressed in units of None. balancing_threshold has a limited domain of [0.0, +Inf].
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finalvirtual |
Returns a new BasicVector containing a copy of the entire vector.
Caller must take ownership, and may rely on the NVI wrapper to initialize the clone elementwise.
Subclasses of BasicVector must override DoClone to return their covariant type.
Reimplemented from BasicVector< T >.
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static |
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finalvirtual |
Get the bounds for the elements.
If lower and upper are both empty size vectors, then there are no bounds. Otherwise, the bounds are (*lower)(i) <= GetAtIndex(i) <= (*upper)(i) The default output is no bounds.
Reimplemented from VectorBase< T >.
| drake::boolean<T> IsValid | ( | ) | const |
Returns whether the current values of this vector are well-formed.
| const T& k_d | ( | ) | const |
Partial feedback linearization derivative gain.
k_d is expressed in units of s^-1. k_d has a limited domain of [0.0, +Inf]. | const T& k_e | ( | ) | const |
Energy shaping gain.
k_e is expressed in units of s. k_e has a limited domain of [0.0, +Inf]. | const T& k_p | ( | ) | const |
Partial feedback linearization proportional gain.
k_p is expressed in units of s^-2. k_p has a limited domain of [0.0, +Inf]. | SpongControllerParams& operator= | ( | const SpongControllerParams< T > & | other | ) |
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noexcept |
| void Serialize | ( | Archive * | a | ) |
Visit each field of this named vector, passing them (in order) to the given Archive.
The archive can read and/or write to the vector values. One common use of Serialize is the //common/yaml tools.
| void set_balancing_threshold | ( | const T & | balancing_threshold | ) |
Setter that matches balancing_threshold().
| void set_k_d | ( | const T & | k_d | ) |
Setter that matches k_d().
| void set_k_e | ( | const T & | k_e | ) |
Setter that matches k_e().
| void set_k_p | ( | const T & | k_p | ) |
Setter that matches k_p().
| std::enable_if_t<std::is_same_v<U, symbolic::Expression> > SetToNamedVariables | ( | ) |
Create a symbolic::Variable for each element with the known variable name.
This is only available for T == symbolic::Expression.
| SpongControllerParams<T> with_balancing_threshold | ( | const T & | balancing_threshold | ) | const |
Fluent setter that matches balancing_threshold().
Returns a copy of this with balancing_threshold set to a new value.
| SpongControllerParams<T> with_k_d | ( | const T & | k_d | ) | const |
Fluent setter that matches k_d().
Returns a copy of this with k_d set to a new value.
| SpongControllerParams<T> with_k_e | ( | const T & | k_e | ) | const |
Fluent setter that matches k_e().
Returns a copy of this with k_e set to a new value.
| SpongControllerParams<T> with_k_p | ( | const T & | k_p | ) | const |
Fluent setter that matches k_p().
Returns a copy of this with k_p set to a new value.