#include <gain-adaptive.hh>

Inheritance diagram for dynamicgraph::sot::GainAdaptive:

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

void	forceConstant (void)

	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)

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

void	init (const double &lambda)

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

void	init (void)

void	initFromPassingPoint (const double &valueAt0, const double &valueAtInfty, const double &errorReference, const double &percentage)
	Set the gain by providing the value at 0, at $\infty$ and the percentage of accomplishment between both to be reached when the error is `errorReference`. More...

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< sigtime_t > &	getSignal (const std::string &signalName)

const SignalBase< sigtime_t > &	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 &	logger ()

const Logger &	logger () const

const Logger &	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< sigtime_t > *	test ()

virtual void	test2 (SignalBase< sigtime_t > *)

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

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

virtual	~Entity ()

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

dynamicgraph::SignalTimeDependent< double, sigtime_t >	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, sigtime_t 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< sigtime_t > &signals)

Protected Attributes
double	coeff_a

double	coeff_b

double	coeff_c

Protected Attributes inherited from dynamicgraph::Entity
CommandMap_t	commandMap

Logger	logger_

std::string	name

SignalMap	signalMap

Private Member Functions
void	addCommands ()

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< sigtime_t > * >	SignalMap

Detailed Description

Exponentially decreasing gain. It follows the law

$g(e) = a \exp (-b ||e||) + c$

.

The default values for

,
,
.

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

Constructor & Destructor Documentation

◆ GainAdaptive() [1/3]

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

Definition at line 80 of file gain-adaptive.cpp.

◆ GainAdaptive() [2/3]

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

◆ GainAdaptive() [3/3]

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

Member Function Documentation

◆ addCommands()

void GainAdaptive::addCommands ( )

private

Definition at line 42 of file gain-adaptive.cpp.

◆ computeGain()

double & GainAdaptive::computeGain	(	double &	res,
		sigtime_t	t
	)

protected

Definition at line 166 of file gain-adaptive.cpp.

◆ display()

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

virtual

Reimplemented from dynamicgraph::Entity.

Definition at line 154 of file gain-adaptive.cpp.

◆ forceConstant()

void GainAdaptive::forceConstant ( void )

Definition at line 148 of file gain-adaptive.cpp.

◆ getClassName()

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

inlinevirtual

Reimplemented from dynamicgraph::Entity.

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

◆ init() [1/3]

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

inline

Definition at line 80 of file gain-adaptive.hh.

◆ init() [2/3]

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

◆ init() [3/3]

void dynamicgraph::sot::GainAdaptive::init ( void )

inline

Definition at line 79 of file gain-adaptive.hh.

◆ initFromPassingPoint()

void GainAdaptive::initFromPassingPoint	(	const double &	valueAt0,
		const double &	valueAtInfty,
		const double &	errorReference,
		const double &	percentage
	)

Set the gain by providing the value at 0, at $\infty$ and the percentage of accomplishment between both to be reached when the error is errorReference.

To visualize the curve of the gain versus the error, use

from dynamic_graph.sot.core.gain_adaptive import GainAdaptive
import numpy, matplotlib.pyplot as plt
g = GainAdaptive('g')
g.setByPoint(4.9, 0.001, 0.01, 0.1)
 
errors = numpy.linspace(0, 0.1, 1000)
def compute(e):
    t = g.error.time + 1
    g.error.value = (e,)
    g.error.time = t
    g.gain.recompute(t)
    return g.gain.value
 
gains = [ compute(e) for e in errors ]
 
lg = plt.plot(errors, gains, 'r', label="Gain")
ld = plt.twinx().plot(errors, [ g*e for e,g in zip(errors,gains) ], 'b',
  label="Derivative")
lines = lg + ld
plt.legend(lines, [l.get_label() for l in lines])
plt.show()

Definition at line 133 of file gain-adaptive.cpp.

Member Data Documentation

◆ CLASS_NAME

const std::string dynamicgraph::sot::GainAdaptive::CLASS_NAME

static

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

◆ coeff_a

double dynamicgraph::sot::GainAdaptive::coeff_a

protected

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

◆ coeff_b

double dynamicgraph::sot::GainAdaptive::coeff_b

protected

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

◆ coeff_c

double dynamicgraph::sot::GainAdaptive::coeff_c

protected

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

◆ errorSIN

dynamicgraph::SignalPtr<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::GainAdaptive::errorSIN

Definition at line 119 of file gain-adaptive.hh.

◆ gainSOUT

dynamicgraph::SignalTimeDependent<double, sigtime_t> dynamicgraph::sot::GainAdaptive::gainSOUT

Definition at line 120 of file gain-adaptive.hh.

◆ INFTY_DEFAULT

const double GainAdaptive::INFTY_DEFAULT = .1

static

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

◆ TAN_DEFAULT

const double GainAdaptive::TAN_DEFAULT = 1

static

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

◆ ZERO_DEFAULT

const double GainAdaptive::ZERO_DEFAULT = .1

static

Definition at line 56 of file gain-adaptive.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

Private Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ GainAdaptive() [1/3]

◆ GainAdaptive() [2/3]

◆ GainAdaptive() [3/3]

Member Function Documentation

◆ addCommands()

◆ computeGain()

◆ display()

◆ forceConstant()

◆ getClassName()

◆ init() [1/3]

◆ init() [2/3]

◆ init() [3/3]

◆ initFromPassingPoint()

Member Data Documentation

◆ CLASS_NAME

◆ coeff_a

◆ coeff_b

◆ coeff_c

◆ errorSIN

◆ gainSOUT

◆ INFTY_DEFAULT

◆ TAN_DEFAULT

◆ ZERO_DEFAULT