tvm::task_dynamics::FeedForward< TD, TDImpl > Class Template Reference

#include <tvm/task_dynamics/FeedForward.h>

Inheritance diagram for tvm::task_dynamics::FeedForward< TD, TDImpl >:

Collaboration diagram for tvm::task_dynamics::FeedForward< TD, TDImpl >:

Classes
class	Impl

Public Types
using	getFeedForwardT = std::function< const Eigen::VectorXd &()>
using	addProviderDependencyT = std::function< void(Impl &)>

Public Member Functions
template<class FFProvider , class FFSignal , typename... Args>
	FeedForward (std::shared_ptr< FFProvider > provider, const Eigen::VectorXd &(FFProvider::*method)() const, FFSignal signal, Args &&... args)
	~FeedForward () override=default

Protected Member Functions
std::unique_ptr< abstract::TaskDynamicsImpl >	impl_ (FunctionPtr f, constraint::Type t, const Eigen::VectorXd &rhs) const override

Protected Attributes
getFeedForwardT	feedForward_
addProviderDependencyT	addProviderDependency_

Detailed Description

template<class TD, class TDImpl = typename TD::Impl>
class tvm::task_dynamics::FeedForward< TD, TDImpl >

Given a task dynamics value \( e^{(k)*} \), compute the new value \( e_ff^{(k)*} = e^{(k)*} - ff \), \( ff \) is data provided by another TVM node of the same size

Member Typedef Documentation

addProviderDependencyT

template<class TD , class TDImpl = typename TD::Impl>

using tvm::task_dynamics::FeedForward< TD, TDImpl >::addProviderDependencyT = std::function<void(Impl &)>

getFeedForwardT

template<class TD , class TDImpl = typename TD::Impl>

using tvm::task_dynamics::FeedForward< TD, TDImpl >::getFeedForwardT = std::function<const Eigen::VectorXd &()>

Constructor & Destructor Documentation

FeedForward()

template<class TD , class TDImpl = typename TD::Impl>

template<class FFProvider , class FFSignal , typename... Args>

tvm::task_dynamics::FeedForward< TD, TDImpl >::FeedForward ( std::shared_ptr< FFProvider >  provider, const Eigen::VectorXd &(FFProvider::*)() const  method, FFSignal  signal, Args &&...  args  )

inline

~FeedForward()

template<class TD , class TDImpl = typename TD::Impl>

tvm::task_dynamics::FeedForward< TD, TDImpl >::~FeedForward ( )

overridedefault

Member Function Documentation

impl_()

template<class TD , class TDImpl = typename TD::Impl>

std::unique_ptr<abstract::TaskDynamicsImpl> tvm::task_dynamics::FeedForward< TD, TDImpl >::impl_ ( FunctionPtr  f, constraint::Type  t, const Eigen::VectorXd &  rhs  ) const

inlineoverrideprotected

Member Data Documentation

addProviderDependency_

template<class TD , class TDImpl = typename TD::Impl>

addProviderDependencyT tvm::task_dynamics::FeedForward< TD, TDImpl >::addProviderDependency_

protected

feedForward_

template<class TD , class TDImpl = typename TD::Impl>

getFeedForwardT tvm::task_dynamics::FeedForward< TD, TDImpl >::feedForward_

protected

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

• include/tvm/task_dynamics/FeedForward.h