Convolution.h
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00001 // -*- C++ -*-
00010 #ifndef CONVOLUTION_H
00011 #define CONVOLUTION_H
00012 
00013 // </rtc-template>
00014 
00015 #include "../Stabilizer/Integrator.h"
00016 
00017 class Convolution {
00018 public:
00019   // if range = 0, integrate from 0 to t. Otherwise, integrate from t - (range - 1) * dt to t.
00020   Convolution(double _dt = 0.005, unsigned int _range = 0);
00021   ~Convolution(void);
00022   void reset(void);
00023   void setup(double _dt, unsigned int _range);
00024   void update(double _f, double _g);
00025   double calculate(void);
00026 private:
00027   double dt; // control cycle
00028   unsigned int range; // integration range (from t_now - range * dt to t_now [sec])
00029   std::deque<double> f_buffer; // integration data buffer for f
00030   std::deque<double> g_buffer; // integration data buffer for g
00031   long long buffer_size; // buffer size of convolution values (f, g)
00032   Integrator integrator; // convolution(f, g) = integrate(f(x)*g(t-x), x=0, x=t);
00033 };
00034 
00035 #endif // CONVOLUTION_H


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Wed Sep 6 2017 02:35:54