yams::math::LQRConfig Class Reference

#include <LQRConfig.hpp>

Public Types
enum class	LQRType { FLYWHEEL , ARM , ELEVATOR }
using	Loop1 = wpi::math::LinearSystemLoop< 1, 1, 1 >
using	Loop2 = wpi::math::LinearSystemLoop< 2, 1, 1 >

Public Member Functions
LQRConfig &	WithType (LQRType type)
LQRConfig &	WithFlywheelSystem (const wpi::math::DCMotor &motor, double momentOfInertia, double gearing)
LQRConfig &	WithArmSystem (const wpi::math::DCMotor &motor, double momentOfInertia, double gearing)
LQRConfig &	WithElevatorSystem (const wpi::math::DCMotor &motor, double mass, double drumRadius, double gearing)
LQRConfig &	WithQElems (std::initializer_list< double > qElems)
LQRConfig &	WithRElems (std::initializer_list< double > rElems)
LQRConfig &	WithStateStdDevs (std::initializer_list< double > stateStdDevs)
LQRConfig &	WithMeasurementStdDevs (std::initializer_list< double > measStdDevs)
LQRConfig &	WithMaxVoltage (wpi::units::volt_t maxVoltage)
LQRConfig &	WithPeriod (wpi::units::second_t period)
LQRType	GetType () const
wpi::units::second_t	GetPeriod () const
wpi::units::volt_t	GetMaxVoltage () const
std::variant< wpi::math::LinearSystem< 1, 1, 1 >, wpi::math::LinearSystem< 2, 1, 1 > >	GetSystem () const
std::variant< Loop1, Loop2 >	GetLoop () const

Friends
class	LQRController

Detailed Description

Configuration for an LQR (Linear Quadratic Regulator) closed-loop controller.

Uses a fluent builder pattern; all With* methods return *this for chaining. After configuring the plant type, gains, and noise parameters call GetLoop() to obtain the ready-to-use LinearSystemLoop.

Member Typedef Documentation

Loop1

using yams::math::LQRConfig::Loop1 = wpi::math::LinearSystemLoop<1, 1, 1>

LinearSystemLoop type alias for 1-state plants (flywheel).

Loop2

using yams::math::LQRConfig::Loop2 = wpi::math::LinearSystemLoop<2, 1, 1>

LinearSystemLoop type alias for 2-state plants (arm, elevator).

Member Enumeration Documentation

LQRType

enum class yams::math::LQRConfig::LQRType

strong

Identifies which plant model the LQR is built for.

Enumerator
FLYWHEEL	Flywheel (1-state velocity model).
ARM	Single-jointed arm (2-state position+velocity model).
ELEVATOR	Elevator (2-state position+velocity model).

Member Function Documentation

GetLoop()

std::variant< Loop1, Loop2 > yams::math::LQRConfig::GetLoop

(

)

const

Build and return the complete LinearSystemLoop ready for use.

Returns

Variant holding Loop1 (flywheel) or Loop2 (arm/elevator).

GetMaxVoltage()

wpi::units::volt_t yams::math::LQRConfig::GetMaxVoltage

(

)

const

Get the configured maximum voltage.

Returns

Maximum voltage.

GetPeriod()

wpi::units::second_t yams::math::LQRConfig::GetPeriod

(

)

const

Get the configured loop period.

Returns

Loop period.

GetSystem()

std::variant< wpi::math::LinearSystem< 1, 1, 1 >, wpi::math::LinearSystem< 2, 1, 1 > > yams::math::LQRConfig::GetSystem

(

)

const

Build and return the linear plant model.

Returns

Variant holding a 1-state system (flywheel) or 2-state system (arm/elevator).

GetType()

LQRType yams::math::LQRConfig::GetType

(

)

const

Get the configured LQR plant type.

Returns

LQRType.

WithArmSystem()

LQRConfig & yams::math::LQRConfig::WithArmSystem	(	const wpi::math::DCMotor &	motor,
		double	momentOfInertia,
		double	gearing
	)

Configure a single-jointed arm plant model.

Parameters

motor	DC motor model.
momentOfInertia	Moment of inertia of the arm (kg·m²).
gearing	Gear reduction from motor to arm joint.

Returns

*this for chaining.

WithElevatorSystem()

LQRConfig & yams::math::LQRConfig::WithElevatorSystem	(	const wpi::math::DCMotor &	motor,
		double	mass,
		double	drumRadius,
		double	gearing
	)

Configure an elevator plant model.

Parameters

motor	DC motor model.
mass	Carriage mass (kg).
drumRadius	Radius of the drum (m).
gearing	Gear reduction from motor to drum.

Returns

*this for chaining.

WithFlywheelSystem()

LQRConfig & yams::math::LQRConfig::WithFlywheelSystem	(	const wpi::math::DCMotor &	motor,
		double	momentOfInertia,
		double	gearing
	)

Configure a flywheel plant model.

Parameters

motor	DC motor model.
momentOfInertia	Moment of inertia of the flywheel (kg·m²).
gearing	Gear reduction from motor to flywheel.

Returns

*this for chaining.

WithMaxVoltage()

LQRConfig & yams::math::LQRConfig::WithMaxVoltage

(

wpi::units::volt_t

maxVoltage

)

Set the maximum voltage output of the LinearSystemLoop.

Parameters

maxVoltage

Maximum voltage (default 12 V).

Returns

*this for chaining.

WithMeasurementStdDevs()

LQRConfig & yams::math::LQRConfig::WithMeasurementStdDevs

(

std::initializer_list< double >

measStdDevs

)

Set the Kalman filter measurement standard deviations.

Parameters

measStdDevs

Standard deviations of the encoder measurements.

Returns

*this for chaining.

WithPeriod()

LQRConfig & yams::math::LQRConfig::WithPeriod

(

wpi::units::second_t

period

)

Set the loop period for the LQR.

Parameters

period

Loop period (default 20 ms).

Returns

*this for chaining.

WithQElems()

LQRConfig & yams::math::LQRConfig::WithQElems

(

std::initializer_list< double >

qElems

)

Set the Q matrix diagonal elements (state error tolerances).

Decrease values to more aggressively penalize state excursion.

Parameters

qElems

Q-matrix diagonal entries (one per state).

Returns

*this for chaining.

WithRElems()

LQRConfig & yams::math::LQRConfig::WithRElems

(

std::initializer_list< double >

rElems

)

Set the R matrix diagonal elements (control effort tolerances).

Decrease values to more aggressively penalize control effort. A good starting value is 12 (approximately the maximum battery voltage).

Parameters

rElems

R-matrix diagonal entries (one per input).

Returns

*this for chaining.

WithStateStdDevs()

LQRConfig & yams::math::LQRConfig::WithStateStdDevs

(

std::initializer_list< double >

stateStdDevs

)

Set the Kalman filter model standard deviations.

Parameters

stateStdDevs

Standard deviations of the model states.

Returns

*this for chaining.

WithType()

LQRConfig & yams::math::LQRConfig::WithType

(

LQRType

type

)

Set the LQR plant type explicitly.

Parameters

type	LQRType to use.

Returns

*this for chaining.

Friends And Related Symbol Documentation

LQRController

friend class LQRController

friend

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

• /home/runner/work/YAMS/YAMS/yams/cpp/include/yams/math/LQRConfig.hpp