OptimalControl#

rb::OptimalControl is the runtime solver object behind the SDK’s optimal-control workflow. It is separate from the command builder: this page covers the solver itself and the nested target records it consumes.

Header

#include <rby1-sdk/math/optimal_control.h>

Declaration

Namespace	`rb`
Kind	`class template`
Primary role	Solve constrained model-based control problems against a dynamics model.

Member Types / Enums

Type	Purpose	Notes
`ExitCode`	Solver exit status.	Check after each call to `Solve(...)`.
`Input` and target structs	Bundle COM, link, joint-angle, and nullspace targets.	These records define the actual optimization problem.

Public Member Functions

Method group	Purpose	Notes
`OptimalControl(...)`	Construct the solver for one robot model and joint subset.	Binds the solver to a dynamics model.
`Solve(...)`	Run the optimal-control solve.	Overloads cover bounded and unbounded position-limit cases.
`GetExitCode*()`, `GetError()`, `GetManipulability()`	Inspect the result of the most recent solve.	Use for diagnostics and controller tuning.

Detailed Reference

template<int DOF> class OptimalControl#

Public Types

enum class ExitCode : int#

Values:

enumerator kNoError#

enumerator kInequalityConstraintViolation#

enumerator kQPSolverError#

Public Functions

inline explicit OptimalControl(std::shared_ptr<dyn::Robot<DOF>> robot, const std::vector<unsigned int> &joint_idx, bool nullspace_mapping = true, bool soft_position_boundary = false)#

inline double GetError() const#

inline ExitCode GetExitCode() const#

inline std::string GetExitCodeMessage() const#

inline double GetManipulability() const#

inline std::optional<Eigen::VectorXd> Solve(Input in, std::shared_ptr<dyn::State<DOF>> state, double dt, double error_scaling, const Eigen::Vector<double, DOF> &position_lower_limit, const Eigen::Vector<double, DOF> &position_upper_limit, const Eigen::Vector<double, DOF> &velocity_limit, const Eigen::Vector<double, DOF> &acceleration_limit, bool need_forward_kinematics = false)#

inline std::optional<Eigen::VectorXd> Solve(Input in, std::shared_ptr<dyn::State<DOF>> state, double dt, double error_scaling, const Eigen::Vector<double, DOF> &velocity_limit, const Eigen::Vector<double, DOF> &acceleration_limit, bool need_forward_kinematics = false)#

struct COMTarget#

Public Members

Eigen::Vector3d com = {Eigen::Vector3d::Zero()}#

int ref_link_index = {}#

double weight = {0.}#

struct Input#

Public Members

std::optional<COMTarget> com_target#

std::optional<std::vector<LinkTarget>> link_targets#

std::optional<NullspaceJointTarget> nullspace_q_target#

std::optional<JointAngleTarget> q_target#

struct JointAngleTarget#

Public Functions

inline JointAngleTarget()#

inline explicit JointAngleTarget(int dof)#

Public Members

Eigen::Vector<double, DOF> q#

Eigen::Vector<double, DOF> weight#

struct LinkTarget#

Public Members

int link_index = {}#

int ref_link_index = {}#

math::SE3::MatrixType T = {math::SE3::Identity()}#

double weight_orientation = {0.}#

double weight_position = {0.}#

struct NullspaceJointTarget#

Public Functions

inline NullspaceJointTarget()#

inline explicit NullspaceJointTarget(int dof)#

Public Members

double cost_weight = {1e-3}#

double k_d = {0.2}#

double k_p = {0.2}#

Eigen::Vector<double, DOF> q#

Eigen::Vector<double, DOF> weight#

Related Types

Examples

optimal_control.cpp is the direct example for this page.