this class provides the controller_generic features to COMPASS More...

#include <sutra_controller_generic_linear.h>

Inheritance diagram for sutra_controller_generic_linear< Tcomp, Tout >:

Collaboration diagram for sutra_controller_generic_linear< Tcomp, Tout >:

Public Member Functions
bool	polc ()

bool	modal ()

int	n_slope_buffers ()

int	n_states ()

int	n_state_buffers ()

int	n_modes ()

int	n_iir_in ()

int	n_iir_out ()

	sutra_controller_generic_linear ()=delete

	sutra_controller_generic_linear (CarmaContext context, int nslope, int nslopes_buffers, int nactu, int nstates, int nstates_buffers, int nmodes, int niir_in, int niir_out, float delay, bool polc, bool is_modal, SutraDms dms, int idx_dms, int ndm, int idx_centro, int ncentro)

	~sutra_controller_generic_linear ()

string	get_type ()

string	get_commandlaw ()

int	set_matA (float *A, int i)

int	set_matL (float *L, int i)

int	set_matK (float *K)

int	set_matD (float *D)

int	set_matF (float *F)

int	set_iir_a (float *iir_a, int i)

int	set_iir_b (float *iir_b, int i)

int	set_polc (bool p)

int	comp_polc ()

int	comp_com ()
	!!! YOU MUST set d_centroids before calling it!!!! More...

int	recursion ()

int	innovation ()

int	modal_projection ()

int	filter_iir_in ()

int	filter_iir_out ()

Public Member Functions inherited from SutraController< Tcomp, Tout >
	SutraController (CarmaContext context, int nslope, int nactu, float delay, SutraDms dms, int idx_dms, int ndm, int idx_centro, int ncentro)

virtual	~SutraController ()

int	nactu ()

int	nslope ()

cublasHandle_t	cublas_handle ()

void	init_voltage ()

int	set_centroids_ref (Tcomp *centroids_ref)

int	add_perturb_voltage (string name, float *perturb, int N)

int	set_perturb_voltage (string name, float *perturb, int N)

int	remove_perturb_voltage (string name)

int	reset_perturb_voltage ()

int	enable_perturb_voltage (string name)

int	disable_perturb_voltage (string name)

int	set_com (float *com, int nElem)

int	set_open_loop (int open_loop_status, bool rst=true)

int	clip_commands ()

int	comp_voltage ()

int	comp_latency ()

int	set_delay (float delay)

int	set_volt_min (float volt_min)

int	set_volt_max (float volt_max)

int	set_val_max (float val_max)

int	set_gain (float gain)

int	reset_coms ()

int	command_delay ()

int	add_perturb ()

int	comp_polc (CarmaObj< Tcomp > &sk, CarmaObj< Tcomp > &iMat, CarmaObj< Tcomp > &ol_meas)
	Compute the open loop measurements and effective commands. More...

Public Attributes
std::unique_ptr< CarmaObj< Tcomp > >	d_x_now
	vector used for state calcs More...

std::unique_ptr< CarmaObj< Tcomp > >	d_s_now
	vector used for slope calcs More...

std::unique_ptr< CarmaObj< Tcomp > >	d_u_now
	vector used for modal calcs More...

std::deque< CarmaObj< Tcomp > * >	d_circular_x
	circ buffer states More...

std::deque< CarmaObj< Tcomp > * >	d_circular_s
	circ buffer slopes More...

std::deque< CarmaObj< Tcomp > * >	d_circular_u_in
	circ buffer iir inputs More...

std::deque< CarmaObj< Tcomp > * >	d_circular_u_out
	circ buffer iir output More...

std::vector< CarmaObj< Tcomp > * >	d_matA
	list of A matrices (recursions) More...

std::vector< CarmaObj< Tcomp > * >	d_matL
	list of L matrices (innovations) More...

std::unique_ptr< CarmaObj< Tcomp > >	d_matK
	K matrix (state to modes) More...

std::unique_ptr< CarmaObj< Tcomp > >	d_matD
	D matrix (interaction matrix) More...

std::unique_ptr< CarmaObj< Tcomp > >	d_matF
	F matrix (mode to actu) More...

std::vector< CarmaObj< Tcomp > * >	d_iir_a
	list of iir 'a' vectors (outputs) More...

std::vector< CarmaObj< Tcomp > * >	d_iir_b
	list of iir 'b' vectors (inputs) More...

Public Attributes inherited from SutraController< Tcomp, Tout >
CarmaContext *	current_context

int	device

int	open_loop

Tcomp	delay

Tcomp	gain

float	volt_min

float	volt_max

int	nactus

int	nslopes

Tout	val_max

Tcomp	a

Tcomp	b

Tcomp	c

vector< SutraDm * >	d_dmseen

CarmaObj< Tcomp > *	d_centroids

CarmaObj< Tcomp > *	d_centroids_padded

CarmaObj< Tcomp > *	d_com

CarmaObj< Tcomp > *	d_com_padded

CarmaObj< Tcomp > *	d_com_clipped

CarmaObj< Tout > *	d_voltage

CarmaObj< Tcomp > *	d_com1

vector< int >	centro_idx

std::deque< CarmaObj< Tcomp > * >	d_circular_coms

map< string, tuple< CarmaObj< Tcomp > *, int, bool > >	d_perturb_map

cudaStream_t	mainStream

Additional Inherited Members
Protected Attributes inherited from SutraController< Tcomp, Tout >
mutex	comp_voltage_mutex

Detailed Description

template<typename Tcomp, typename Tout>
class sutra_controller_generic_linear< Tcomp, Tout >

this class provides the controller_generic features to COMPASS

Author: COMPASS Team https://github.com/ANR-COMPASS

Version: 5.4.4

Date: 2022/01/24

Definition at line 26 of file sutra_controller_generic_linear.h.