fsw::control::ControllerLUT Class Reference

Controller LUT loader with multilinear interpolation. More...

#include <ControllerLUT.hpp>

Collaboration diagram for fsw::control::ControllerLUT:

Classes
struct	Axis
struct	Output

Public Member Functions
	ControllerLUT ()=default
bool	load (const std::string &path)
	Load LUT from binary file.
bool	is_loaded () const
	True if a LUT is loaded and ready for evaluation.
bool	evaluate (const std::map< std::string, double > &point, std::map< std::string, double > &out) const
	Evaluate LUT at the given point.

Private Attributes
std::vector< Axis >	axes_
std::vector< Output >	outputs_

Detailed Description

Controller LUT loader with multilinear interpolation.

Loads binary LUT exported by scripts/controller_lut/export_lut_for_fsw.py. Used to bypass DDP and output optimal control (u_safe_F, u_safe_O or duty_F, duty_O) for boolean solenoid actuation.

Definition at line 19 of file ControllerLUT.hpp.

Constructor & Destructor Documentation

ControllerLUT()

fsw::control::ControllerLUT::ControllerLUT ( )

default

Member Function Documentation

evaluate()

bool fsw::control::ControllerLUT::evaluate	(	const std::map< std::string, double > &	point,
		std::map< std::string, double > &	out ) const

Evaluate LUT at the given point.

Parameters

point	Map from axis name -> value (e.g. P_u_fuel, P_u_ox, thrust_desired)
out	Map from output name -> interpolated value (e.g. u_safe_F, u_safe_O, duty_F, duty_O)

Returns

true if evaluation succeeded

Definition at line 104 of file ControllerLUT.cpp.

References axes_, outputs_, and result.

Referenced by engine.core.runner.PintleEngineRunner::evaluate_arrays().

is_loaded()

bool fsw::control::ControllerLUT::is_loaded ( ) const

inline

True if a LUT is loaded and ready for evaluation.

Definition at line 27 of file ControllerLUT.hpp.

References axes_.

load()

bool fsw::control::ControllerLUT::load

(

const std::string &

path

)

Load LUT from binary file.

Returns false on error.

Definition at line 21 of file ControllerLUT.cpp.

References a, axes_, MAGIC, o, and outputs_.

Referenced by engine.layerx.measurements.MeasurementStore::get().

Member Data Documentation

axes_

std::vector<Axis> fsw::control::ControllerLUT::axes_

private

Definition at line 52 of file ControllerLUT.hpp.

Referenced by evaluate(), is_loaded(), and load().

outputs_

std::vector<Output> fsw::control::ControllerLUT::outputs_

private

Definition at line 53 of file ControllerLUT.hpp.

Referenced by evaluate(), and load().

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

• daq-server/diablo_server/lib/include/control/ControllerLUT.hpp
• daq-server/diablo_server/lib/src/control/ControllerLUT.cpp