sot-core
4.11.6
Hierarchical task solver plug-in for dynamic-graph.
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10 #ifndef __SOT_GAIN_ADAPTATIVE_HH__
11 #define __SOT_GAIN_ADAPTATIVE_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_adaptive_EXPORTS)
30 #define SOTGAINADAPTATIVE_EXPORT __declspec(dllexport)
32 #define SOTGAINADAPTATIVE_EXPORT __declspec(dllimport)
35 #define SOTGAINADAPTATIVE_EXPORT
63 virtual void display(std::ostream &os)
const;
64 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
75 GainAdaptive(
const std::string &name,
const double &lambda);
76 GainAdaptive(
const std::string &name,
const double &valueAt0,
77 const double &valueAtInfty,
const double &tanAt0);
80 inline void init(
void) {
init(ZERO_DEFAULT, INFTY_DEFAULT, TAN_DEFAULT); }
81 inline void init(
const double &lambda) {
init(lambda, lambda, 1.); }
82 void init(
const double &valueAt0,
const double &valueAtInfty,
83 const double &tanAt0);
114 void initFromPassingPoint(
const double &valueAt0,
const double &valueAtInfty,
115 const double &errorReference,
116 const double &percentage);
117 void forceConstant(
void);
120 dynamicgraph::SignalPtr<dynamicgraph::Vector, int>
errorSIN;
121 dynamicgraph::SignalTimeDependent<double, int>
gainSOUT;
124 double &computeGain(
double &res,
int t);
133 #endif // #ifndef __SOT_GAIN_ADAPTATIVE_HH__
void init(const double &lambda)
Definition: gain-adaptive.hh:81
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > errorSIN
Definition: gain-adaptive.hh:120
Definition: abstract-sot-external-interface.hh:17
#define SOTGAINADAPTATIVE_EXPORT
Definition: gain-adaptive.hh:35
static const double ZERO_DEFAULT
Definition: gain-adaptive.hh:57
dynamicgraph::SignalTimeDependent< double, int > gainSOUT
Definition: gain-adaptive.hh:121
static const double TAN_DEFAULT
Definition: gain-adaptive.hh:59
virtual const std::string & getClassName(void) const
Definition: gain-adaptive.hh:64
void init(void)
Definition: gain-adaptive.hh:80
Definition: gain-adaptive.hh:53
double coeff_a
Definition: gain-adaptive.hh:69
double coeff_b
Definition: gain-adaptive.hh:70
static const double INFTY_DEFAULT
Definition: gain-adaptive.hh:58
static const std::string CLASS_NAME
Definition: gain-adaptive.hh:62
double coeff_c
Definition: gain-adaptive.hh:71