cpp_robotics::SISOPFC

#include <pfc.hpp>

Public Functions

	Name
	SISOPFC(const Eigen::MatrixXd & Ad, const Eigen::VectorXd & Bd, const Eigen::VectorXd & Cd, const double delay, const double target_responce_time, const double dt) Construct a new SISOPFC object.
double	calculate(std::function< double(double)> ref_target, double now_state)
double	calculate(std::function< double(double)> ref_target, double now_state, double prev_input)
double	prev_input() const

Public Functions Documentation

function SISOPFC

inline SISOPFC(
    const Eigen::MatrixXd & Ad,
    const Eigen::VectorXd & Bd,
    const Eigen::VectorXd & Cd,
    const double delay,
    const double target_responce_time,
    const double dt
)

Construct a new SISOPFC object.

Parameters:

• Ad
• Bd
• Cd
• delay
• target_responce_time
• dt

function calculate

inline double calculate(
    std::function< double(double)> ref_target,
    double now_state
)

function calculate

inline double calculate(
    std::function< double(double)> ref_target,
    double now_state,
    double prev_input
)

function prev_input

inline double prev_input() const

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Updated on 2024-05-28 at 06:55:39 +0000