rcacGradFlags Struct Reference
#include <RCACGrad.hpp>
Public Attributes | |
| int | lz |
| int | ly |
| int | lu |
| int | Nc |
| Eigen::VectorXd | theta_0 |
| int | filtorder |
| int | k_0 |
| double | alpha |
Detailed Description
This struct contains the basic parameters needed for gradient RCAC to work.
- Parameters
-
lz Number of performance measurements ly Number of sensor measurements lu Number of control inputs Nc Controller order theta_0 Eigen vector with initial controller coefficients. Usually a vector of zeros filtorder Order of the filter ( 
) k_0 Minimum number of steps to run before starting the controller (usually k_0 = Nc) alpha Step size scaling for gradient descent
The documentation for this struct was generated from the following file:
