control::BlockDerivative Class Reference

A simple derivative approximation. More...

#include <BlockDerivative.hpp>

Inheritance diagram for control::BlockDerivative:

Collaboration diagram for control::BlockDerivative:

Public Member Functions
	BlockDerivative (SuperBlock *parent, const char *name)
virtual	~BlockDerivative ()=default
float	update (float input)
	Update the state and get current derivative. More...
void	setU (float u)
void	reset ()
float	getU ()
float	getLP ()
float	getO ()
Public Member Functions inherited from control::SuperBlock
	SuperBlock (SuperBlock *parent, const char *name)
	~SuperBlock ()=default
	SuperBlock (const SuperBlock &)=delete
SuperBlock &	operator= (const SuperBlock &)=delete
	SuperBlock (SuperBlock &&)=delete
SuperBlock &	operator= (SuperBlock &&)=delete
void	setDt (float dt) override
void	updateParams () override
Public Member Functions inherited from control::Block
	Block (SuperBlock *parent, const char *name)
virtual	~Block ()=default
	Block (const Block &)=delete
Block &	operator= (const Block &)=delete
	Block (Block &&)=delete
Block &	operator= (Block &&)=delete
void	getName (char *name, size_t n)
float	getDt ()
Public Member Functions inherited from ListNode< Block *>
void	setSibling (Block * sibling)
const Block *	getSibling () const

Protected Attributes
float	_u
	previous input More...
bool	_initialized
BlockLowPass	_lowPass
	low pass filter More...
Protected Attributes inherited from control::SuperBlock
List< Block * >	_children
Protected Attributes inherited from control::Block
const char *	_name
SuperBlock *	_parent
float	_dt {0.0f}
List< BlockParamBase * >	_params
Protected Attributes inherited from ListNode< Block *>
Block *	_list_node_sibling

Additional Inherited Members
Protected Member Functions inherited from control::SuperBlock
List< Block * > &	getChildren ()
void	updateChildParams ()
Protected Member Functions inherited from control::Block
virtual void	updateParamsSubclass ()
SuperBlock *	getParent ()
List< BlockParamBase * > &	getParams ()

Detailed Description

A simple derivative approximation.

This uses the previous and current input. This has a built in low pass filter.

See also

LowPass

Definition at line 61 of file BlockDerivative.hpp.

Constructor & Destructor Documentation

BlockDerivative()

control::BlockDerivative::BlockDerivative ( SuperBlock *  parent, const char *  name  )

inline

Definition at line 65 of file BlockDerivative.hpp.

~BlockDerivative()

virtual control::BlockDerivative::~BlockDerivative ( )

virtualdefault

Member Function Documentation

getLP()

float control::BlockDerivative::getLP ( )

inline

Definition at line 92 of file BlockDerivative.hpp.

Referenced by control::blockDerivativeTest(), blockDerivativeTest(), blockPDTest(), control::blockPDTest(), control::blockPIDTest(), and blockPIDTest().

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getO()

float control::BlockDerivative::getO ( )

inline

Definition at line 93 of file BlockDerivative.hpp.

getU()

float control::BlockDerivative::getU ( )

inline

Definition at line 91 of file BlockDerivative.hpp.

Referenced by control::blockDerivativeTest(), blockDerivativeTest(), blockPDTest(), control::blockPDTest(), blockPIDTest(), control::blockPIDTest(), and update().

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reset()

void control::BlockDerivative::reset ( void  )

inline

Definition at line 90 of file BlockDerivative.hpp.

Referenced by MulticopterPositionControl::Run().

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setU()

void control::BlockDerivative::setU ( float  u )

inline

Definition at line 89 of file BlockDerivative.hpp.

Referenced by control::blockDerivativeTest(), blockDerivativeTest(), blockPDTest(), control::blockPDTest(), blockPIDTest(), control::blockPIDTest(), and update().

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update()

float control::BlockDerivative::update

(

float

input

)

Update the state and get current derivative.

This call updates the state and gets the current derivative. As the derivative is only valid on the second call to update, it will return no change (0) on the first. To get a closer estimate of the derivative on the first call, call setU() one time step before using the return value of update().

Parameters

input

the variable to calculate the derivative of

Returns

the current derivative

Definition at line 48 of file BlockDerivative.cpp.

References _initialized, _lowPass, f(), control::Block::getDt(), getU(), setU(), and control::BlockLowPass::update().

Referenced by control::blockDerivativeTest(), blockDerivativeTest(), control::blockPDTest(), blockPDTest(), blockPIDTest(), control::blockPIDTest(), and MulticopterPositionControl::set_vehicle_states().

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Member Data Documentation

_initialized

bool control::BlockDerivative::_initialized

protected

Definition at line 97 of file BlockDerivative.hpp.

Referenced by update().

_lowPass

BlockLowPass control::BlockDerivative::_lowPass

protected

low pass filter

Definition at line 98 of file BlockDerivative.hpp.

Referenced by update().

_u

float control::BlockDerivative::_u

protected

previous input

Definition at line 96 of file BlockDerivative.hpp.

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The documentation for this class was generated from the following files:

• src/lib/controllib/BlockDerivative.hpp
• src/lib/controllib/BlockDerivative.cpp