tuw::StateFeedback< InputObsStateType, InputDesStateType, OutputStateType, ParamType > Class Template Reference

Interface for a filter that outputs a desired state given an observed state and a desired state. More...

#include <state_feedback.hpp>

Public Member Functions
virtual std::shared_ptr< OutputStateType > &	compute (std::shared_ptr< InputObsStateType > &_xObs, std::shared_ptr< InputDesStateType > &_xDes, const double &_t)=0
	Computes the output state at the specified time instant given the observed state and the desired state. More...
StateFeedback &	operator= (const StateFeedback &)=default
StateFeedback &	operator= (StateFeedback &&)=default
std::shared_ptr< OutputStateType > &	output ()
	Access to the last computed output state. More...
std::shared_ptr< ParamType > &	params ()
	Access to the last parameters object pointer. More...
virtual void	reloadParam ()=0
	Reloads class parameters. To be called when parameters that influence the class variables are changed. More...
	StateFeedback (std::shared_ptr< ParamType > _params)
	StateFeedback (const StateFeedback &)=default
	StateFeedback (StateFeedback &&)=default
virtual	~StateFeedback ()=default

Protected Attributes
std::shared_ptr< OutputStateType >	output_
	Last computet output state. More...
std::shared_ptr< ParamType >	params_
	Pointer to the class parameters object. More...

Detailed Description

template<typename InputObsStateType, typename InputDesStateType, typename OutputStateType, typename ParamType>
class tuw::StateFeedback< InputObsStateType, InputDesStateType, OutputStateType, ParamType >

Interface for a filter that outputs a desired state given an observed state and a desired state.

Template Parameters

InputObsStateType	Class defining the current observed state of the afferent system
InputDesStateType	Class defining the current desired state of the afferent system
OutputStateType	Class defining the computed state of the filter
ParamType	Class defining the filter parameters

Definition at line 51 of file state_feedback.hpp.

Constructor & Destructor Documentation

template<typename InputObsStateType, typename InputDesStateType, typename OutputStateType, typename ParamType>

tuw::StateFeedback< InputObsStateType, InputDesStateType, OutputStateType, ParamType >::StateFeedback ( std::shared_ptr< ParamType >  _params )

inline

Definition at line 55 of file state_feedback.hpp.

template<typename InputObsStateType, typename InputDesStateType, typename OutputStateType, typename ParamType>

virtual tuw::StateFeedback< InputObsStateType, InputDesStateType, OutputStateType, ParamType >::~StateFeedback ( )

virtualdefault

template<typename InputObsStateType, typename InputDesStateType, typename OutputStateType, typename ParamType>

tuw::StateFeedback< InputObsStateType, InputDesStateType, OutputStateType, ParamType >::StateFeedback ( const StateFeedback< InputObsStateType, InputDesStateType, OutputStateType, ParamType > &  )

default

template<typename InputObsStateType, typename InputDesStateType, typename OutputStateType, typename ParamType>

tuw::StateFeedback< InputObsStateType, InputDesStateType, OutputStateType, ParamType >::StateFeedback ( StateFeedback< InputObsStateType, InputDesStateType, OutputStateType, ParamType > &&  )

default

Member Function Documentation

template<typename InputObsStateType, typename InputDesStateType, typename OutputStateType, typename ParamType>

virtual std::shared_ptr<OutputStateType>& tuw::StateFeedback< InputObsStateType, InputDesStateType, OutputStateType, ParamType >::compute ( std::shared_ptr< InputObsStateType > &  _xObs, std::shared_ptr< InputDesStateType > &  _xDes, const double &  _t  )

pure virtual

Computes the output state at the specified time instant given the observed state and the desired state.

Parameters

_xObs	Observed state
_xDes	Desired state
_t	Temporal evaluation point

Returns

computed output state

Implemented in tuw::StateFeedback1Output< InputStateType, ParamsType >.

template<typename InputObsStateType, typename InputDesStateType, typename OutputStateType, typename ParamType>

StateFeedback& tuw::StateFeedback< InputObsStateType, InputDesStateType, OutputStateType, ParamType >::operator= ( const StateFeedback< InputObsStateType, InputDesStateType, OutputStateType, ParamType > &  )

default

template<typename InputObsStateType, typename InputDesStateType, typename OutputStateType, typename ParamType>

StateFeedback& tuw::StateFeedback< InputObsStateType, InputDesStateType, OutputStateType, ParamType >::operator= ( StateFeedback< InputObsStateType, InputDesStateType, OutputStateType, ParamType > &&  )

default

template<typename InputObsStateType, typename InputDesStateType, typename OutputStateType, typename ParamType>

std::shared_ptr<OutputStateType>& tuw::StateFeedback< InputObsStateType, InputDesStateType, OutputStateType, ParamType >::output ( )

inline

Access to the last computed output state.

Definition at line 92 of file state_feedback.hpp.

template<typename InputObsStateType, typename InputDesStateType, typename OutputStateType, typename ParamType>

std::shared_ptr<ParamType>& tuw::StateFeedback< InputObsStateType, InputDesStateType, OutputStateType, ParamType >::params ( )

inline

Access to the last parameters object pointer.

Definition at line 99 of file state_feedback.hpp.

template<typename InputObsStateType, typename InputDesStateType, typename OutputStateType, typename ParamType>

virtual void tuw::StateFeedback< InputObsStateType, InputDesStateType, OutputStateType, ParamType >::reloadParam ( )

pure virtual

Reloads class parameters. To be called when parameters that influence the class variables are changed.

Member Data Documentation

template<typename InputObsStateType, typename InputDesStateType, typename OutputStateType, typename ParamType>

std::shared_ptr<OutputStateType> tuw::StateFeedback< InputObsStateType, InputDesStateType, OutputStateType, ParamType >::output_

protected

Last computet output state.

Definition at line 107 of file state_feedback.hpp.

template<typename InputObsStateType, typename InputDesStateType, typename OutputStateType, typename ParamType>

std::shared_ptr<ParamType> tuw::StateFeedback< InputObsStateType, InputDesStateType, OutputStateType, ParamType >::params_

protected

Pointer to the class parameters object.

Definition at line 105 of file state_feedback.hpp.

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

• state_feedback.hpp