Hyperbolic gain. It follows the law

$g(e) = a \frac{\tanh(-b(||e|| - d)) + 1}{2} + c$

The default coefficients are: More...

#include <gain-hyperbolic.hh>

Inheritance diagram for dynamicgraph::sot::GainHyperbolic:

Public Member Functions
virtual void	display (std::ostream &os) const

void	forceConstant (void)

	GainHyperbolic (const std::string &name)

	GainHyperbolic (const std::string &name, const double &lambda)

	GainHyperbolic (const std::string &name, const double &valueAt0, const double &valueAtInfty, const double &tanAt0, const double &decal0)

virtual const std::string &	getClassName (void) const

void	init (void)

void	init (const double &lambda)

void	init (const double &valueAt0, const double &valueAtInfty, const double &tanAt0, const double &decal0)

Public Member Functions inherited from dynamicgraph::Entity
std::ostream &	displaySignalList (std::ostream &os) const

	Entity (const std::string &name)

const std::string &	getCommandList () const

virtual std::string	getDocString () const

LoggerVerbosity	getLoggerVerbosityLevel ()

LoggerVerbosity	getLoggerVerbosityLevel ()

const std::string &	getName () const

command::Command *	getNewStyleCommand (const std::string &cmdName)

CommandMap_t	getNewStyleCommandMap ()

SignalBase< int > &	getSignal (const std::string &signalName)

const SignalBase< int > &	getSignal (const std::string &signalName) const

SignalMap	getSignalMap () const

double	getStreamPrintPeriod ()

double	getStreamPrintPeriod ()

double	getTimeSample ()

double	getTimeSample ()

bool	hasSignal (const std::string &signame) const

Logger &	logger ()

Logger const &	logger () const

Logger &	logger ()

Logger const &	logger () const

void	sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const std::string &lineId="")

void	sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const std::string &lineId="")

void	setLoggerVerbosityLevel (LoggerVerbosity lv)

void	setLoggerVerbosityLevel (LoggerVerbosity lv)

bool	setStreamPrintPeriod (double t)

bool	setStreamPrintPeriod (double t)

bool	setTimeSample (double t)

bool	setTimeSample (double t)

virtual SignalBase< int > *	test ()

virtual void	test2 (SignalBase< int > *)

virtual std::ostream &	writeCompletionList (std::ostream &os) const

virtual std::ostream &	writeGraph (std::ostream &os) const

virtual	~Entity ()

Public Attributes
dynamicgraph::SignalPtr< dynamicgraph::Vector, int >	errorSIN

dynamicgraph::SignalTimeDependent< double, int >	gainSOUT

Static Public Attributes
static const std::string	CLASS_NAME

static const double	INFTY_DEFAULT = .1

static const double	TAN_DEFAULT = 1

static const double	ZERO_DEFAULT = .1

Protected Member Functions
double &	computeGain (double &res, int t)

Protected Member Functions inherited from dynamicgraph::Entity
void	addCommand (const std::string &name, command::Command *command)

void	entityDeregistration ()

void	entityRegistration ()

void	signalDeregistration (const std::string &name)

void	signalRegistration (const SignalArray< int > &signals)

Protected Attributes
double	coeff_a

double	coeff_b

double	coeff_c

double	coeff_d

Protected Attributes inherited from dynamicgraph::Entity
CommandMap_t	commandMap

Logger	logger_

std::string	name

SignalMap	signalMap

Additional Inherited Members
Public Types inherited from dynamicgraph::Entity
typedef std::map< const std::string, command::Command *>	CommandMap_t

typedef std::map< std::string, SignalBase< int > *>	SignalMap

Detailed Description

Hyperbolic gain. It follows the law

$g(e) = a \frac{\tanh(-b(||e|| - d)) + 1}{2} + c$

The default coefficients are:

,
,
,
.

Definition at line 53 of file gain-hyperbolic.hh.

Constructor & Destructor Documentation

◆ GainHyperbolic() [1/3]

GainHyperbolic::GainHyperbolic ( const std::string & name )

Definition at line 41 of file gain-hyperbolic.cpp.

◆ GainHyperbolic() [2/3]

dynamicgraph::sot::GainHyperbolic::GainHyperbolic	(	const std::string &	name,
		const double &	lambda
	)

◆ GainHyperbolic() [3/3]

dynamicgraph::sot::GainHyperbolic::GainHyperbolic	(	const std::string &	name,
		const double &	valueAt0,
		const double &	valueAtInfty,
		const double &	tanAt0,
		const double &	decal0
	)

Member Function Documentation

◆ computeGain()

double & GainHyperbolic::computeGain	(	double &	res,
		int	t
	)

protected

Definition at line 96 of file gain-hyperbolic.cpp.

◆ display()

void GainHyperbolic::display ( std::ostream & os ) const

virtual

Reimplemented from dynamicgraph::Entity.

Definition at line 82 of file gain-hyperbolic.cpp.

◆ forceConstant()

void GainHyperbolic::forceConstant ( void )

Definition at line 76 of file gain-hyperbolic.cpp.

◆ getClassName()

virtual const std::string& dynamicgraph::sot::GainHyperbolic::getClassName ( void ) const

inlinevirtual

Reimplemented from dynamicgraph::Entity.

Definition at line 63 of file gain-hyperbolic.hh.

◆ init() [1/3]

void dynamicgraph::sot::GainHyperbolic::init ( void )

inline

Definition at line 81 of file gain-hyperbolic.hh.

◆ init() [2/3]

void dynamicgraph::sot::GainHyperbolic::init ( const double & lambda )

inline

Definition at line 82 of file gain-hyperbolic.hh.

◆ init() [3/3]

void dynamicgraph::sot::GainHyperbolic::init	(	const double &	valueAt0,
		const double &	valueAtInfty,
		const double &	tanAt0,
		const double &	decal0
	)

Set the coefficients.

,
$b = \frac{tanAt0}{2*a}$ , or if ,
,
.

Member Data Documentation

◆ CLASS_NAME

const std::string dynamicgraph::sot::GainHyperbolic::CLASS_NAME

static

Definition at line 61 of file gain-hyperbolic.hh.

◆ coeff_a

double dynamicgraph::sot::GainHyperbolic::coeff_a

protected

Definition at line 68 of file gain-hyperbolic.hh.

◆ coeff_b

double dynamicgraph::sot::GainHyperbolic::coeff_b

protected

Definition at line 69 of file gain-hyperbolic.hh.

◆ coeff_c

double dynamicgraph::sot::GainHyperbolic::coeff_c

protected

Definition at line 70 of file gain-hyperbolic.hh.

◆ coeff_d

double dynamicgraph::sot::GainHyperbolic::coeff_d

protected

Definition at line 71 of file gain-hyperbolic.hh.

◆ errorSIN

dynamicgraph::SignalPtr<dynamicgraph::Vector, int> dynamicgraph::sot::GainHyperbolic::errorSIN

Definition at line 94 of file gain-hyperbolic.hh.

◆ gainSOUT

dynamicgraph::SignalTimeDependent<double, int> dynamicgraph::sot::GainHyperbolic::gainSOUT

Definition at line 95 of file gain-hyperbolic.hh.

◆ INFTY_DEFAULT

const double GainHyperbolic::INFTY_DEFAULT = .1

static

Definition at line 57 of file gain-hyperbolic.hh.

◆ TAN_DEFAULT

const double GainHyperbolic::TAN_DEFAULT = 1

static

Definition at line 58 of file gain-hyperbolic.hh.

◆ ZERO_DEFAULT

const double GainHyperbolic::ZERO_DEFAULT = .1

static

Definition at line 56 of file gain-hyperbolic.hh.

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

Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ GainHyperbolic() [1/3]

◆ GainHyperbolic() [2/3]

◆ GainHyperbolic() [3/3]

Member Function Documentation

◆ computeGain()

◆ display()

◆ forceConstant()

◆ getClassName()

◆ init() [1/3]

◆ init() [2/3]

◆ init() [3/3]

Member Data Documentation

◆ CLASS_NAME

◆ coeff_a

◆ coeff_b

◆ coeff_c

◆ coeff_d

◆ errorSIN

◆ gainSOUT

◆ INFTY_DEFAULT

◆ TAN_DEFAULT

◆ ZERO_DEFAULT