gain-hyperbolic.hh
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1 /*
2  * Copyright 2010,
3  * François Bleibel,
4  * Olivier Stasse,
5  *
6  * CNRS/AIST
7  *
8  */
9 
10 #ifndef __SOT_GAIN_HYPERBOLIC_HH__
11 #define __SOT_GAIN_HYPERBOLIC_HH__
12 
13 /* --------------------------------------------------------------------- */
14 /* --- INCLUDE --------------------------------------------------------- */
15 /* --------------------------------------------------------------------- */
16 
17 /* Matrix */
19 
20 /* SOT */
22 #include <dynamic-graph/entity.h>
23 
24 /* --------------------------------------------------------------------- */
25 /* --- API ------------------------------------------------------------- */
26 /* --------------------------------------------------------------------- */
27 
28 #if defined(WIN32)
29 #if defined(gain_hyperbolic_EXPORTS)
30 #define SOTGAINHYPERBOLIC_EXPORT __declspec(dllexport)
31 #else
32 #define SOTGAINHYPERBOLIC_EXPORT __declspec(dllimport)
33 #endif
34 #else
35 #define SOTGAINHYPERBOLIC_EXPORT
36 #endif
37 
38 /* --------------------------------------------------------------------- */
39 /* --- CLASS ----------------------------------------------------------- */
40 /* --------------------------------------------------------------------- */
41 
42 namespace dynamicgraph {
43 namespace sot {
44 
54  public: /* --- CONSTANTS --- */
55  /* Default values. */
56  static const double ZERO_DEFAULT; // = 0.1
57  static const double INFTY_DEFAULT; // = 0.1
58  static const double TAN_DEFAULT; // = 1.
59 
60  public: /* --- ENTITY INHERITANCE --- */
61  static const std::string CLASS_NAME;
62  virtual void display(std::ostream &os) const;
63  virtual const std::string &getClassName(void) const { return CLASS_NAME; }
64 
65  protected:
66  /* Parameters of the hyperbolic-gain function:
67  * lambda (x) = a * exp (-b*x) + c. */
68  double coeff_a;
69  double coeff_b;
70  double coeff_c;
71  double coeff_d;
72 
73  public: /* --- CONSTRUCTORS ---- */
74  GainHyperbolic(const std::string &name);
75  GainHyperbolic(const std::string &name, const double &lambda);
76  GainHyperbolic(const std::string &name, const double &valueAt0,
77  const double &valueAtInfty, const double &tanAt0,
78  const double &decal0);
79 
80  public: /* --- INIT --- */
81  inline void init(void) { init(ZERO_DEFAULT, INFTY_DEFAULT, TAN_DEFAULT, 0); }
82  inline void init(const double &lambda) { init(lambda, lambda, 1., 0); }
89  void init(const double &valueAt0, const double &valueAtInfty,
90  const double &tanAt0, const double &decal0);
91  void forceConstant(void);
92 
93  public: /* --- SIGNALS --- */
96 
97  protected:
98  double &computeGain(double &res, int t);
99 };
100 
101 } /* namespace sot */
102 } /* namespace dynamicgraph */
103 
104 #endif // #ifndef __SOT_GAIN_HYPERBOLIC_HH__
static const std::string CLASS_NAME
void init(const double &lambda)
virtual const std::string & getClassName(void) const
dynamicgraph::SignalTimeDependent< double, int > gainSOUT
#define SOTGAINHYPERBOLIC_EXPORT
Hyperbolic gain. It follows the law The default coefficients are:
void init(bool compute_local_aabb=true)
Transform3f t
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > errorSIN


sot-core
Author(s): Olivier Stasse, ostasse@laas.fr
autogenerated on Wed Jun 21 2023 02:51:26