TVM
0.9.2
|
#include <tvm/task_dynamics/Proportional.h>
Classes | |
class | Impl |
Public Types | |
using | Gain = mpark::variant< double, Eigen::VectorXd, Eigen::MatrixXd > |
Public Member Functions | |
Proportional (double kp) | |
Proportional (const Eigen::VectorXd &kp) | |
Proportional (const Eigen::MatrixXd &kp) | |
~Proportional () override=default | |
Public Member Functions inherited from tvm::task_dynamics::abstract::TaskDynamics | |
virtual | ~TaskDynamics ()=default |
std::unique_ptr< TaskDynamicsImpl > | impl (FunctionPtr f, constraint::Type t, const Eigen::VectorXd &rhs) const |
Order | order () const |
Protected Member Functions | |
std::unique_ptr< abstract::TaskDynamicsImpl > | impl_ (FunctionPtr f, constraint::Type t, const Eigen::VectorXd &rhs) const override |
Order | order_ () const override |
Compute \( \dot{e}^* = -k_p e \) (Kinematic order) with \( k_p \) a scalar, a diagonal matrix (given as a vector) or a matrix.
using tvm::task_dynamics::Proportional::Gain = mpark::variant<double, Eigen::VectorXd, Eigen::MatrixXd> |
tvm::task_dynamics::Proportional::Proportional | ( | double | kp | ) |
Proportional dynamics with scalar gain.
tvm::task_dynamics::Proportional::Proportional | ( | const Eigen::VectorXd & | kp | ) |
Proportional dynamics with diagonal matrix gain.
tvm::task_dynamics::Proportional::Proportional | ( | const Eigen::MatrixXd & | kp | ) |
Proportional dynamics with matrix gain.
|
overridedefault |
|
overrideprotectedvirtual |
Implements tvm::task_dynamics::abstract::TaskDynamics.
|
overrideprotectedvirtual |
Implements tvm::task_dynamics::abstract::TaskDynamics.