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10 #ifndef __SOT_GAIN_ADAPTATIVE_HH__
11 #define __SOT_GAIN_ADAPTATIVE_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_adaptive_EXPORTS)
31 #define SOTGAINADAPTATIVE_EXPORT __declspec(dllexport)
33 #define SOTGAINADAPTATIVE_EXPORT __declspec(dllimport)
36 #define SOTGAINADAPTATIVE_EXPORT
65 virtual void display(std::ostream &os)
const;
66 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
77 GainAdaptive(
const std::string &name,
const double &lambda);
78 GainAdaptive(
const std::string &name,
const double &valueAt0,
79 const double &valueAtInfty,
const double &tanAt0);
82 inline void init(
void) {
init(ZERO_DEFAULT, INFTY_DEFAULT, TAN_DEFAULT); }
83 inline void init(
const double &lambda) {
init(lambda, lambda, 1.); }
84 void init(
const double &valueAt0,
const double &valueAtInfty,
85 const double &tanAt0);
113 void initFromPassingPoint(
const double &valueAt0,
const double &valueAtInfty,
114 const double &errorReference,
115 const double &percentage);
116 void forceConstant(
void);
123 double &computeGain(
double &res,
int t);
132 #endif // #ifndef __SOT_GAIN_ADAPTATIVE_HH__
dg::SignalPtr< dg::Vector, int > errorSIN
Definition: gain-adaptive.hh:119
void init(const double &lambda)
Definition: gain-adaptive.hh:83
Definition: abstract-sot-external-interface.hh:17
#define SOTGAINADAPTATIVE_EXPORT
Definition: gain-adaptive.hh:36
static const double ZERO_DEFAULT
Definition: gain-adaptive.hh:59
static const double TAN_DEFAULT
Definition: gain-adaptive.hh:61
virtual const std::string & getClassName(void) const
Definition: gain-adaptive.hh:66
void init(void)
Definition: gain-adaptive.hh:82
dg::SignalTimeDependent< double, int > gainSOUT
Definition: gain-adaptive.hh:120
Definition: gain-adaptive.hh:55
double coeff_a
Definition: gain-adaptive.hh:71
double coeff_b
Definition: gain-adaptive.hh:72
static const double INFTY_DEFAULT
Definition: gain-adaptive.hh:60
static const std::string CLASS_NAME
Definition: gain-adaptive.hh:64
double coeff_c
Definition: gain-adaptive.hh:73