navlib::AdaptiveIdentifier Class Reference

A system identification method using a Lyapunov approach. More...

#include <adaptiveIdentifier.h>

Inheritance diagram for navlib::AdaptiveIdentifier:

List of all members.

Public Types
typedef ublas::vector< double >	vector
Public Member Functions
	AdaptiveIdentifier (boost::shared_ptr< DynamicsModel > dynamics, vector gamma)
boost::shared_ptr< DynamicsModel >	getModel () const
	Returns the identified dynamics model.
void	update (vector xf, vector u, const double &dt)
	Predicts the next state and corrects for errors.

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Detailed Description

A system identification method using a Lyapunov approach.

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Constructor & Destructor Documentation

AdaptiveIdentifier::AdaptiveIdentifier	(	boost::shared_ptr< DynamicsModel >	dynamics,
		vector	gamma
	)

Parameters:

	dynamics	model to identify
	gamma	a list of weights

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Member Function Documentation

void AdaptiveIdentifier::update	(	vector	xf,
		vector	u,
		const double &	dt
	)

Predicts the next state and corrects for errors.

Parameters:

	xf	measured state
	u	control input update time

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

• identifier/adaptiveIdentifier.h
• identifier/adaptiveIdentifier.cpp