gain-adaptive.hh

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/*
 * Copyright 2010,
 * François Bleibel,
 * Olivier Stasse,
 *
 * CNRS/AIST
 *
 */

#ifndef __SOT_GAIN_ADAPTATIVE_HH__
#define __SOT_GAIN_ADAPTATIVE_HH__

/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */

/* Matrix */
#include <dynamic-graph/linear-algebra.h>

/* SOT */
#include <dynamic-graph/all-signals.h>
#include <dynamic-graph/entity.h>

/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */

#if defined(WIN32)
#if defined(gain_adaptive_EXPORTS)
#define SOTGAINADAPTATIVE_EXPORT __declspec(dllexport)
#else
#define SOTGAINADAPTATIVE_EXPORT __declspec(dllimport)
#endif
#else
#define SOTGAINADAPTATIVE_EXPORT
#endif

/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */

namespace dynamicgraph {
namespace sot {

class SOTGAINADAPTATIVE_EXPORT GainAdaptive : public dynamicgraph::Entity {
 public: /* --- CONSTANTS --- */
  /* Default values. */
  static const double ZERO_DEFAULT;   // = 0.1
  static const double INFTY_DEFAULT;  // = 0.1
  static const double TAN_DEFAULT;    // = 1.

 public: /* --- ENTITY INHERITANCE --- */
  static const std::string CLASS_NAME;
  virtual void display(std::ostream &os) const;
  virtual const std::string &getClassName(void) const { return CLASS_NAME; }

 protected:
  /* Parameters of the adaptative-gain function:
   * lambda (x) = a * exp (-b*x) + c. */
  double coeff_a;
  double coeff_b;
  double coeff_c;

 public: /* --- CONSTRUCTORS ---- */
  GainAdaptive(const std::string &name);
  GainAdaptive(const std::string &name, const double &lambda);
  GainAdaptive(const std::string &name, const double &valueAt0,
               const double &valueAtInfty, const double &tanAt0);

 public: /* --- INIT --- */
  inline void init(void) { init(ZERO_DEFAULT, INFTY_DEFAULT, TAN_DEFAULT); }
  inline void init(const double &lambda) { init(lambda, lambda, 1.); }
  void init(const double &valueAt0, const double &valueAtInfty,
            const double &tanAt0);
  void initFromPassingPoint(const double &valueAt0, const double &valueAtInfty,
                            const double &errorReference,
                            const double &percentage);
  void forceConstant(void);

 public: /* --- SIGNALS --- */
  dynamicgraph::SignalPtr<dynamicgraph::Vector, int> errorSIN;
  dynamicgraph::SignalTimeDependent<double, int> gainSOUT;

 protected:
  double &computeGain(double &res, int t);

 private:
  void addCommands();
};

} /* namespace sot */
} /* namespace dynamicgraph */

#endif  // #ifndef __SOT_GAIN_ADAPTATIVE_HH__