actuation.py File Reference

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Classes
class	engine.control.robust_ddp.actuation.ExecutionBackend
class	engine.control.robust_ddp.actuation.ActuationCommand

Namespaces
namespace	engine
namespace	engine.control
namespace	engine.control.robust_ddp
namespace	engine.control.robust_ddp.actuation

Functions
ActuationCommand	engine.control.robust_ddp.actuation.compute_actuation (np.ndarray u_relaxed, ControllerState state, ControllerConfig cfg, Optional[float] dt=None, ExecutionBackend backend=ExecutionBackend.PWM, Optional[np.ndarray] u_prev_relaxed=None, Optional[dict[str, float]] sigma_delta_state=None)
float	engine.control.robust_ddp.actuation.quantize_duty (float u, float duty_quantization)
tuple[float, float]	engine.control.robust_ddp.actuation.enforce_dwell (float u_new, float u_prev, float dwell_timer, float dwell_time, float dt)
tuple[float, bool]	engine.control.robust_ddp.actuation.binary_actuation (float duty_desired, float dt, ControllerConfig cfg, Optional[float] sigma_delta_state=None)
None	engine.control.robust_ddp.actuation.update_state_dwell_timers (ControllerState state, ActuationCommand cmd)
np.ndarray	engine.control.robust_ddp.actuation.create_duty_grid (float duty_quantization)