[5] | 1 | /* |
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| 2 | * approx_esc_2d.h |
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| 3 | * |
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| 4 | * Created on: Jul 31, 2012 |
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| 5 | * Berk Calli |
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| 6 | * Organization: Delft Biorobotics Lab., Delft University of Technology |
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| 7 | * Contact info: b.calli@tudelft.nl, web: www.dbl.tudelft.nl |
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| 8 | * |
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| 9 | * Header file of the class for one dimensional approximation based extremum seeking control |
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| 10 | * |
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| 11 | * * References: |
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| 12 | * - C. Zhang and R. Ordonez, âRobust and adaptive design of numerical optimization-based extremum seeking control,â Automatica, vol. 45, pp. 634â646, 2009. |
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| 13 | * - B. Calli, W. Caarls, P. Jonker and M. Wisse, "Comparison of Extremum Seeking Control Algorithms for Robotic Applications," IROS 2012. |
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| 14 | */ |
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| 15 | |
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| 16 | |
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| 17 | #ifndef APPROX_ESC_2D_H_ |
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| 18 | #define APPROX_ESC_2D_H_ |
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| 19 | |
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| 20 | #include "esc_common/esc.h" |
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| 21 | #include <vector> |
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| 22 | #include <eigen3/Eigen/Dense> |
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| 23 | #include "stdio.h" |
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| 24 | class ApproxESC2D:public ESC{ |
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| 25 | protected: |
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| 26 | int data_size_,sampling_; |
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| 27 | double k_grad_, init_vel_; |
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| 28 | bool initialized_; |
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| 29 | int sample_, ptr_; |
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| 30 | Eigen::MatrixXf states_; |
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| 31 | Eigen::VectorXf obj_vals_; |
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| 32 | Eigen::VectorXf vel_ref_,state_curr_; |
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| 33 | public: |
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| 34 | ApproxESC2D(); |
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| 35 | ApproxESC2D(int data_size, double k_grad, double init_vel, int sampling = 1); |
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| 36 | void init(int data_size, double k_grad, double init_vel, int sampling = 1); |
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| 37 | std::vector<double> step(std::vector<double> state, double obj_val); |
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| 38 | inputType getInputType(); |
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| 39 | outputType getOutputType(); |
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| 40 | std::vector<double> monitor(); |
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| 41 | std::vector<std::string> monitorNames(); |
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| 42 | |
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| 43 | }; |
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| 44 | |
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| 45 | |
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| 46 | #endif /* APPROX_ESC_2D_H_ */ |
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