.. _program_listing_file_src_LouLib_Controllers_LQRController.hpp:

Program Listing for File LQRController.hpp
==========================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_LouLib_Controllers_LQRController.hpp>` (``src/LouLib/Controllers/LQRController.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   
   #ifndef LOULIB_LQRCONTROLLER_HPP
   #define LOULIB_LQRCONTROLLER_HPP
   
   #include "../Math/Math.hpp"
   
   namespace LouLib {
       namespace Controllers {
   
           class LQRController {
           private:
               Math::Matrix A;
               Math::Matrix B;
               Math::Matrix Q;
               Math::Matrix R;
   
               Math::Matrix P{0,0};
               Math::Matrix K{0,0};
   
               Math::Vector reference{0};
               Math::Vector actual{0};
   
               void solveDARE();
   
           public:
               LQRController(const Math::Matrix &a, const Math::Matrix &b,
                             const Math::Matrix &q, const Math::Matrix &r);
   
               Math::Matrix getK();
   
               Math::Vector computeControl(Math::Vector x);
   
               void setReference(const Math::Vector &_reference);
           };
   
       } // LouLib
   } // Controllers
   
   #endif //LOULIB_LQRCONTROLLER_HPP