#include <RCACRLS.hpp>

Inheritance diagram for RCACRLS:

Collaboration diagram for RCACRLS:

Public Member Functions
	RCACRLS (rcacRlsFlags &FLAGS, rcacFilt &FILT)

Public Member Functions inherited from RCAC
void	oneStep (Eigen::VectorXd &uIn, Eigen::VectorXd &zIn, Eigen::VectorXd &yIn)

Eigen::VectorXd	getControl ()

Eigen::VectorXd	getCoeff ()

int	getlu ()

int	getly ()

int	getlz ()

int	getNc ()

int	getkk ()

Additional Inherited Members
Static Public Member Functions inherited from RCAC
template<typename T >
static RCAC *	init (T &FLAGS, rcacFilt &FILT, std::string &whichRCAC)

Protected Member Functions inherited from RCAC
void	initRegressor ()

void	initFiltered ()

void	computeFiltered ()

Protected Attributes inherited from RCAC
int	lz

int	ly

int	lu

int	Nc

int	k_0

Eigen::VectorXd	theta_0

int	filtorder

rcacFilt	FILT

std::deque< Eigen::VectorXd >	uBar

std::deque< Eigen::VectorXd >	ufBar

std::deque< Eigen::VectorXd >	zBar

std::deque< Eigen::VectorXd >	zfBar

std::deque< Eigen::MatrixXd >	PhiBar

std::deque< Eigen::MatrixXd >	PhifBar

Eigen::MatrixXd	P

Eigen::VectorXd	theta

Eigen::VectorXd	uOut

Eigen::VectorXd	uIn

Eigen::MatrixXd	Phi

Eigen::VectorXd	uphi

Eigen::VectorXd	yphi

bool	rcacRLS

bool	rcacGrad

int	kk = 1

Detailed Description

This class contains the RLS implementation of RCAC. The class contains a constructor and an implementation of the coeffUpdate method.

Constructor & Destructor Documentation

Value constructor for the RCACRLS class. Required.

Parameters

FLAGS	rcacRlsFlags struct containing the flags for the RLS RCAC
FILT	base rcacFilt struct containing the filter coefficients

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