SOIdentification.hpp
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00034 #ifndef SOIDENTIFICATION_HPP_
00035 #define SOIDENTIFICATION_HPP_
00036 #include <labust/control/Relay.hpp>
00037 #include <vector>
00038 
00039 namespace labust
00040 {
00041   namespace control
00042   {
00048     class SOIdentification
00049     {
00050     public:
00054       enum {alpha=0, kx=1, kxx=2, delta=3, wn=4, numParams};
00064       SOIdentification(double C = 0, double X = 0,
00065                 double R = 0, double E=0.1, double identLen = 4);
00069       ~SOIdentification();
00070 
00077       inline void setRelay(double C, double X)
00078       {
00079         this->relay.setAmplitude(C);
00080         this->relay.setHysteresis(X);
00081       }
00082 
00086       inline bool isFinished(){return this->finished;}
00090       inline const std::vector<double>& parameters(){return params;}
00091 
00101       double step(double error /*double desired, double state*/, double dT);
00105       void reset();
00106 
00110       void Ref(double ref){this->ref = ref;};
00114       double Ref(){return this->ref;};
00118       inline bool hasSwitched(){return this->relay.hasSwitched();};
00122       inline double avgError(){return minMaxError;};
00123 
00124     private:
00128       void calculateParameters();
00129 
00133       bool finished;
00137       labust::control::Relay relay;
00141       std::vector<double> params;
00145       double tSum;
00149       double maxOsc, minOsc;
00153       int counterHigh, counterLow;
00157       double eMaxError,eMinError, minMaxError;
00161       double ref;
00165       int identLen;
00169       std::vector<double> xa_high, xa_low, e_min, e_max, t_min, t_max;
00170     };
00171   };
00172 };
00173 /* SOIDENTIFICATION_H_ */
00174 #endif


ident_so
Author(s): Gyula Nagy
autogenerated on Fri Aug 28 2015 11:23:43