corbo::TimeValueBuffer Class Reference

Time Delay Object for Piecewise-Constant Signals. More...

#include <time_value_buffer.h>

Public Member Functions
void	appendValues (double t, const Eigen::Ref< const Eigen::VectorXd > &u)
void	getValues (double ts, double dt, std::vector< std::pair< double, Eigen::VectorXd >> &useq_out)
	Compute the delayed values. More...
bool	isEmpty () const
void	reset ()
	Reset internal buffer. More...
void	setInitialValue (const Eigen::Ref< const Eigen::VectorXd > &uinit)
	Specify initial value. More...
	TimeValueBuffer ()=default
	Default constructor. More...

Private Attributes
std::vector< std::pair< double, Eigen::VectorXd > >	_ucache
Eigen::VectorXd	_uinit

Detailed Description

Time Delay Object for Piecewise-Constant Signals.

This class realzies a time delay for piecewise-constant signals (discretization can be arbitrarily and must not be uniform). Internally, the object caches the last few controls in combination with their time durations. This time is then mapped to the delayed time basis. In case no previous signal value is present, a previously defined initial value is returned (default: zero vector).

Author

Christoph Rösmann (chris.nosp@m.toph.nosp@m..roes.nosp@m.mann.nosp@m.@tu-d.nosp@m.ortm.nosp@m.und.d.nosp@m.e)

Definition at line 53 of file time_value_buffer.h.

Constructor & Destructor Documentation

TimeValueBuffer()

corbo::TimeValueBuffer::TimeValueBuffer ( )

default

Default constructor.

Member Function Documentation

appendValues()

void corbo::TimeValueBuffer::appendValues	(	double	t,
		const Eigen::Ref< const Eigen::VectorXd > &	u
	)

Definition at line 89 of file time_value_buffer.cpp.

getValues()

void corbo::TimeValueBuffer::getValues	(	double	ts,
		double	dt,
		std::vector< std::pair< double, Eigen::VectorXd >> &	useq_out
	)

Compute the delayed values.

Adds the input u to the internal cache and returns all vectors u that fall into the time interval [t, dt]. If no previously cache vector is available (e.g. at the beginning), an initial value is returned (see setInitialValue()).

See also

setInitialValue(), setTimeDelay(), reset()

Parameters

[in]	t	Current time stamp
[in]	u	Value which is expected at t in case of ignoring the time-delay
[in]	dt	Duration for u (note, we assume a piecewise constant signal)
[out]	useq_out	vector containing pairs of (dt and controls) (from the delayed time-base) [useq_out is cleared]

Definition at line 30 of file time_value_buffer.cpp.

isEmpty()

bool corbo::TimeValueBuffer::isEmpty ( ) const

inline

Definition at line 81 of file time_value_buffer.h.

reset()

void corbo::TimeValueBuffer::reset ( )

inline

Reset internal buffer.

Definition at line 84 of file time_value_buffer.h.

setInitialValue()

void corbo::TimeValueBuffer::setInitialValue ( const Eigen::Ref< const Eigen::VectorXd > &  uinit )

inline

Specify initial value.

Definition at line 79 of file time_value_buffer.h.

Member Data Documentation

_ucache

std::vector<std::pair<double, Eigen::VectorXd> > corbo::TimeValueBuffer::_ucache

private

Definition at line 90 of file time_value_buffer.h.

_uinit

Eigen::VectorXd corbo::TimeValueBuffer::_uinit

private

Definition at line 88 of file time_value_buffer.h.

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

• time_value_buffer.h
• time_value_buffer.cpp