sot-core
4.11.6
Hierarchical task solver plug-in for dynamic-graph.
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10 #ifndef __SOT_INTEGRATOR_EULER_H__
11 #define __SOT_INTEGRATOR_EULER_H__
18 #include <dynamic-graph/command-getter.h>
19 #include <dynamic-graph/command-setter.h>
48 template <
class sigT,
class coefT>
68 "sotIntegratorEuler(" + name +
69 ")::output(vector)::derivativesout") {
72 using namespace dynamicgraph::command;
76 this->addCommand(
"setSamplingPeriod",
77 new Setter<IntegratorEuler, double>(
79 "Set the time during two sampling."));
80 this->addCommand(
"getSamplingPeriod",
81 new Getter<IntegratorEuler, double>(
83 "Get the time during two sampling."));
90 "Initialize internal memory from current value of input")));
106 sotDEBUG(15) <<
"# In {" << std::endl;
110 const std::vector<coefT> &num =
numerator;
120 int numsize = (int)num.size();
121 for (
int i = 1; i < numsize; ++i) {
131 int denomsize = (int)denom.size() - 1;
132 for (
int i = 0; i < denomsize; ++i) {
140 for (
int i = denomsize - 1; i >= 0; --i) {
148 sotDEBUG(15) <<
"# Out }" << std::endl;
154 throw dynamicgraph::ExceptionSignal(
155 dynamicgraph::ExceptionSignal::GENERIC,
156 "Integrator does not compute the derivative.");
158 SOUT.recompute(time);
172 throw dynamicgraph::ExceptionSignal(
173 dynamicgraph::ExceptionSignal::GENERIC,
174 "The numerator or the denominator is empty.");
178 throw dynamicgraph::ExceptionSignal(
179 dynamicgraph::ExceptionSignal::GENERIC,
180 "The coefficient of the highest order derivative of denominator "
181 "should be 1 (the last pushDenomCoef should be the identity).");
187 for (std::size_t i = 1; i < numsize; ++i) {
193 for (std::size_t i = 0; i < denomsize; ++i) {
sigT & derivative(sigT &res, int time)
Definition: integrator-euler.hh:152
virtual const std::string & getClassName(void) const
std::vector< coefT > denominator
Definition: integrator-abstract.hh:120
static std::string getTypeName(void)
Definition: integrator-euler.hh:53
static const std::string CLASS_NAME
Definition: integrator-euler.hh:54
Definition: abstract-sot-external-interface.hh:17
integrates an ODE using a naive Euler integration. TODO: change the integration method....
Definition: integrator-euler.hh:49
double getSamplingPeriod() const
Definition: integrator-euler.hh:168
IntegratorEuler(const std::string &name)
Definition: integrator-euler.hh:63
dynamicgraph::SignalTimeDependent< sigT, int > derivativeSOUT
Definition: integrator-euler.hh:99
sigT & integrate(sigT &res, int time)
Definition: integrator-euler.hh:105
void setSamplingPeriod(const double &period)
Definition: integrator-euler.hh:163
virtual ~IntegratorEuler(void)
Definition: integrator-euler.hh:93
dynamicgraph::SignalPtr< sigT, int > SIN
Definition: integrator-abstract.hh:100
std::vector< coefT > numerator
Definition: integrator-abstract.hh:119
std::vector< sigT > inputMemory
Definition: integrator-euler.hh:96
std::vector< sigT > outputMemory
Definition: integrator-euler.hh:97
integrates an ODE. If Y is the output and X the input, the following equation is integrated: a_p * d(...
Definition: integrator-abstract.hh:45
double dt
Definition: integrator-euler.hh:101
dynamicgraph::SignalTimeDependent< sigT, int > SOUT
Definition: integrator-abstract.hh:102
void initialize()
Definition: integrator-euler.hh:170
double invdt
Definition: integrator-euler.hh:102
bool integratorEulerCoeffIsIdentity(const coefT c)
Definition: integrator-euler.hh:30
#define sotDEBUG(level)
Definition: debug.hh:167