Program Listing for File luenberger.hpp

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// Copyright 2024 National Council of Research of Italy (CNR) - Intelligent Robotics Lab
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef STATE_OBSERVERS__LUENBERGER_HPP_
#define STATE_OBSERVERS__LUENBERGER_HPP_

#include <Eigen/Dense>
#include <state_observers/state_observer.hpp>
#include <state_observers_param/state_observer_param.hpp>
#include <state_observers_param/luenberger_param.hpp>

namespace state_observer
{

class Luenberger : public StateObserver
{
public:
  Luenberger(
    const Eigen::MatrixXd & A, const Eigen::MatrixXd & B,
    const Eigen::MatrixXd & C, const Eigen::MatrixXd & D,
    const Eigen::VectorXd & initial_state,
    const Eigen::MatrixXd & L);

  Luenberger(
    const Eigen::MatrixXd & A, const Eigen::MatrixXd & B,
    const Eigen::MatrixXd & C,
    const Eigen::VectorXd & initial_state,
    const Eigen::MatrixXd & L);

  Luenberger(
    const Eigen::MatrixXd & A, const Eigen::MatrixXd & B,
    const Eigen::MatrixXd & C,
    const Eigen::MatrixXd & L);

  Luenberger() {}

  ~Luenberger() {}

  void set_parameters(const StateObserverParam::SharedPtr state_observer_params) override;

  void set_observer_gain(const Eigen::MatrixXd & L);

  Eigen::MatrixXd update(const Eigen::VectorXd & measurement) override;

  Eigen::MatrixXd update(
    const Eigen::VectorXd & measurement,
    const Eigen::VectorXd & input) override;

  inline Eigen::MatrixXd get_observer_gain() const {return L_;}

protected:
  Eigen::VectorXd L_;
};

}  // namespace state_observer

#endif  // STATE_OBSERVERS__LUENBERGER_HPP_

#include <pluginlib/class_list_macros.hpp>
PLUGINLIB_EXPORT_CLASS(
  state_observer::Luenberger,
  state_observer::StateObserver)