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10 #ifndef __SOT_DERIVATOR_H__
11 #define __SOT_DERIVATOR_H__
18 #include <dynamic-graph/linear-algebra.h>
21 #include <dynamic-graph/all-signals.h>
22 #include <dynamic-graph/entity.h>
38 template <
class T>
class Derivator :
public dg::Entity {
39 DYNAMIC_GRAPH_ENTITY_DECL();
53 SIN(NULL,
"sotDerivator<" +
getTypeName() +
">(" + name +
")::input(" +
56 "sotDerivator<" +
getTypeName() +
">(" + name +
")::output(" +
59 ")::input(double)::dt") {
68 dg::SignalPtr<T, int>
SIN;
69 dg::SignalTimeDependent<T, int>
SOUT;
99 res.coeffs() += memory.coeffs();
101 res.coeffs() *= (1. / timestep);
114 #endif // #ifndef __SOT_DERIVATOR_H__
dg::Signal< double, int > timestepSIN
Definition: derivator.hh:70
Eigen::Quaternion< double > SOT_CORE_EXPORT VectorQuaternion
Definition: matrix-geometry.hh:77
double timestep
Definition: derivator.hh:44
Definition: abstract-sot-external-interface.hh:17
T memory
Definition: derivator.hh:42
virtual ~Derivator(void)
Definition: derivator.hh:65
static std::string getTypeName(void)
Definition: derivator.hh:48
Derivator(const std::string &name)
Definition: derivator.hh:50
bool initialized
Definition: derivator.hh:43
Definition: derivator.hh:38
static const double TIMESTEP_DEFAULT
Definition: derivator.hh:45
dg::SignalTimeDependent< T, int > SOUT
Definition: derivator.hh:69
dg::SignalPtr< T, int > SIN
Definition: derivator.hh:65
T & computeDerivation(T &res, int time)
Definition: derivator.hh:73