sot-core
4.11.4
Hierarchical task solver plug-in for dynamic-graph.
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10 #ifndef __SOT_GAIN_HYPERBOLIC_HH__
11 #define __SOT_GAIN_HYPERBOLIC_HH__
18 #include <dynamic-graph/linear-algebra.h>
21 #include <dynamic-graph/all-signals.h>
22 #include <dynamic-graph/entity.h>
29 #if defined(gain_hyperbolic_EXPORTS)
30 #define SOTGAINHYPERBOLIC_EXPORT __declspec(dllexport)
32 #define SOTGAINHYPERBOLIC_EXPORT __declspec(dllimport)
35 #define SOTGAINHYPERBOLIC_EXPORT
63 virtual void display(std::ostream &os)
const;
64 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
78 const double &valueAtInfty,
const double &tanAt0,
79 const double &decal0);
82 inline void init(
void) {
init(ZERO_DEFAULT, INFTY_DEFAULT, TAN_DEFAULT, 0); }
83 inline void init(
const double &lambda) {
init(lambda, lambda, 1., 0); }
90 void init(
const double &valueAt0,
const double &valueAtInfty,
91 const double &tanAt0,
const double &decal0);
92 void forceConstant(
void);
95 dynamicgraph::SignalPtr<dynamicgraph::Vector, int>
errorSIN;
96 dynamicgraph::SignalTimeDependent<double, int>
gainSOUT;
99 double &computeGain(
double &res,
int t);
105 #endif // #ifndef __SOT_GAIN_HYPERBOLIC_HH__
dynamicgraph::SignalTimeDependent< double, int > gainSOUT
Definition: gain-hyperbolic.hh:96
Definition: abstract-sot-external-interface.hh:17
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > errorSIN
Definition: gain-hyperbolic.hh:95
static const std::string CLASS_NAME
Definition: gain-hyperbolic.hh:62
void init(void)
Definition: gain-hyperbolic.hh:82
double coeff_d
Definition: gain-hyperbolic.hh:72
void init(const double &lambda)
Definition: gain-hyperbolic.hh:83
double coeff_a
Definition: gain-hyperbolic.hh:69
virtual const std::string & getClassName(void) const
Definition: gain-hyperbolic.hh:64
static const double TAN_DEFAULT
Definition: gain-hyperbolic.hh:59
double coeff_c
Definition: gain-hyperbolic.hh:71
#define SOTGAINHYPERBOLIC_EXPORT
Definition: gain-hyperbolic.hh:35
double coeff_b
Definition: gain-hyperbolic.hh:70
static const double INFTY_DEFAULT
Definition: gain-hyperbolic.hh:58
static const double ZERO_DEFAULT
Definition: gain-hyperbolic.hh:57
Hyperbolic gain. It follows the law.
Definition: gain-hyperbolic.hh:53