sot-core
4.10.0
Hierarchical task solver plug-in for dynamic-graph.
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10 #ifndef __SOT_INTEGRATOR_ABSTRACT_H__
11 #define __SOT_INTEGRATOR_ABSTRACT_H__
18 #include <dynamic-graph/linear-algebra.h>
21 #include <dynamic-graph/all-signals.h>
22 #include <dynamic-graph/command-bind.h>
23 #include <dynamic-graph/entity.h>
24 #include <dynamic-graph/pool.h>
44 template <
class sigT,
class coefT>
49 SIN(NULL,
"sotIntegratorAbstract(" + name +
")::input(vector)::sin"),
52 SIN,
"sotIntegratorAbstract(" + name +
")::output(vector)::sout") {
53 signalRegistration(
SIN <<
SOUT);
55 using namespace dynamicgraph::command;
57 const std::string typeName =
58 Value::typeName(dynamicgraph::command::ValueHelper<coefT>::TypeID);
64 docCommandVoid1(
"Push a new numerator coefficient", typeName)));
69 docCommandVoid1(
"Push a new denomicator coefficient", typeName)));
74 docCommandVoid0(
"Pop a new numerator coefficient")));
78 docCommandVoid0(
"Pop a new denomicator coefficient")));
83 virtual sigT &
integrate(sigT &res,
int time) = 0;
94 dynamicgraph::SignalPtr<sigT, int>
SIN;
96 dynamicgraph::SignalTimeDependent<sigT, int>
SOUT;
void popDenomCoef()
Definition: integrator-abstract.hh:91
std::vector< coefT > denominator
Definition: integrator-abstract.hh:100
Definition: abstract-sot-external-interface.hh:17
void pushNumCoef(const coefT &numCoef)
Definition: integrator-abstract.hh:86
virtual sigT & integrate(sigT &res, int time)=0
dynamicgraph::SignalPtr< sigT, int > SIN
Definition: integrator-abstract.hh:94
std::vector< coefT > numerator
Definition: integrator-abstract.hh:99
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
void pushDenomCoef(const coefT &denomCoef)
Definition: integrator-abstract.hh:87
virtual ~IntegratorAbstract()
Definition: integrator-abstract.hh:81
dynamicgraph::SignalTimeDependent< sigT, int > SOUT
Definition: integrator-abstract.hh:96
void popNumCoef()
Definition: integrator-abstract.hh:90
IntegratorAbstract(const std::string &name)
Definition: integrator-abstract.hh:47