Exponentially decreasing gain that is safer than dynamicgraph::sot::core::GainAdaptive. More...
#include <gain-adaptive.hh>
Public Member Functions | |
virtual void | display (std::ostream &os) const |
virtual const std::string & | getClassName (void) const |
SafeGainAdaptive (const std::string &name) | |
void | setParameters (const double &a, const double &b, const double &c, const double &d) |
Set the gain parameters. More... | |
void | computeParameters (const double &valueAt0, const double &valueAtInfty, const double &errNormOfMaxExp, const double &errNormOfHalfHyp) |
Compute the parameters from specific values. More... | |
Public Attributes | |
SignalPtr< Vector, int > | errorSIN |
SignalTimeDependent< double, int > | gainSOUT |
Static Public Attributes | |
static const std::string | CLASS_NAME |
Protected Member Functions | |
double & | computeGain (double &res, int t) |
Protected Attributes | |
double | a |
double | b |
double | c |
double | d |
Vector | cs |
Exponentially decreasing gain that is safer than dynamicgraph::sot::core::GainAdaptive.
It follows the law
.
Use the following code to see the curves:
SafeGainAdaptive::SafeGainAdaptive | ( | const std::string & | name | ) |
References computeParameters(), errorSIN, and gainSOUT.
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protected |
void SafeGainAdaptive::computeParameters | ( | const double & | valueAt0, |
const double & | valueAtInfty, | ||
const double & | errNormOfMaxExp, | ||
const double & | errNormOfHalfHyp | ||
) |
Compute the parameters from specific values.
valueAt0 | value of the gain at zero, |
valueAtInfty | value of ![]() ![]() |
errNormOfMaxExp | norm of the error for which the exponential part is maximum |
errNormOfSwitch | norm of the error for which the hyperbolic part is half of its final value |
References a, b, c, d, and setParameters().
Referenced by SafeGainAdaptive().
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inlinevirtual |
void SafeGainAdaptive::setParameters | ( | const double & | a, |
const double & | b, | ||
const double & | c, | ||
const double & | d | ||
) |
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protected |
Referenced by computeGain(), computeParameters(), and setParameters().
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protected |
Referenced by computeGain(), computeParameters(), and setParameters().
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protected |
Referenced by computeGain(), computeParameters(), and setParameters().
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static |
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protected |
Referenced by computeGain(), display(), and setParameters().
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protected |
Referenced by computeGain(), computeParameters(), and setParameters().
SignalPtr<Vector, int> dynamicgraph::agimus::SafeGainAdaptive::errorSIN |
Referenced by computeGain(), and SafeGainAdaptive().
SignalTimeDependent<double, int> dynamicgraph::agimus::SafeGainAdaptive::gainSOUT |
Referenced by display(), and SafeGainAdaptive().