controls/FeedforwardController_8h_source.html

 #ifndef CONTROLS_CONTROLLER_FEEDFORWARD_CONTROLLER_H

 #define CONTROLS_CONTROLLER_FEEDFORWARD_CONTROLLER_H


 #include <controller/BaseControllerInterface.h>


 class FeedforwardController : public BaseControllerInterface {

     static constexpr double EXPLODE_THRESHOLD = 1e4;


 public:

     using BaseControllerInterface::BaseControllerInterface;


     Vector6d getForce(const State& goal, const State& curr, double dt) override;

 };


 #endif  // CONTROLS_CONTROLLER_FEEDFORWARD_CONTROLLER_H

BaseControllerInterface.h

Vector6d
Eigen::Matrix< double, 6, 1 > Vector6d
Definition: Types.h:29

BaseControllerInterface
Abstract base class for a single-responsibility force controller.
Definition: BaseControllerInterface.h:15

BaseControllerInterface::BaseControllerInterface
BaseControllerInterface()=default

FeedforwardController
Controller that computes open-loop forces via inverse dynamics.
Definition: FeedforwardController.h:14

FeedforwardController::getForce
Vector6d getForce(const State &goal, const State &curr, double dt) override
Computes the feed-forward force from the goal state's acceleration and velocity.
Definition: FeedforwardController.cpp:6

State
Full kinematic state of the vehicle.
Definition: Types.h:63