10 #ifndef __SOT_GAIN_HYPERBOLIC_HH__ 11 #define __SOT_GAIN_HYPERBOLIC_HH__ 18 #include <dynamic-graph/linear-algebra.h> 22 #include <dynamic-graph/all-signals.h> 23 #include <dynamic-graph/entity.h> 30 #if defined(gain_hyperbolic_EXPORTS) 31 #define SOTGAINHYPERBOLIC_EXPORT __declspec(dllexport) 33 #define SOTGAINHYPERBOLIC_EXPORT __declspec(dllimport) 36 #define SOTGAINHYPERBOLIC_EXPORT 65 virtual void display(std::ostream &os)
const;
66 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
80 const double &valueAtInfty,
const double &tanAt0,
81 const double &decal0);
84 inline void init(
void) {
init(ZERO_DEFAULT, INFTY_DEFAULT, TAN_DEFAULT, 0); }
85 inline void init(
const double &lambda) {
init(lambda, lambda, 1., 0); }
92 void init(
const double &valueAt0,
const double &valueAtInfty,
93 const double &tanAt0,
const double &decal0);
94 void forceConstant(
void);
101 double &computeGain(
double &res,
int t);
107 #endif // #ifndef __SOT_GAIN_HYPERBOLIC_HH__ static const std::string CLASS_NAME
Definition: gain-hyperbolic.hh:64
void init(void)
Definition: gain-hyperbolic.hh:84
dg::SignalTimeDependent< double, int > gainSOUT
Definition: gain-hyperbolic.hh:98
static const double INFTY_DEFAULT
Definition: gain-hyperbolic.hh:60
void init(const double &lambda)
Definition: gain-hyperbolic.hh:85
virtual const std::string & getClassName(void) const
Definition: gain-hyperbolic.hh:66
double coeff_b
Definition: gain-hyperbolic.hh:72
#define SOTGAINHYPERBOLIC_EXPORT
Definition: gain-hyperbolic.hh:36
Hyperbolic gain. It follows the law The default coefficients are:
Definition: gain-hyperbolic.hh:55
double coeff_c
Definition: gain-hyperbolic.hh:73
dg::SignalPtr< dg::Vector, int > errorSIN
Definition: gain-hyperbolic.hh:97
static const double TAN_DEFAULT
Definition: gain-hyperbolic.hh:61
double coeff_d
Definition: gain-hyperbolic.hh:74
double coeff_a
Definition: gain-hyperbolic.hh:71
Definition: abstract-sot-external-interface.hh:17
static const double ZERO_DEFAULT
Definition: gain-hyperbolic.hh:59