control::BlockIntegral Class Reference

A rectangular integrator. More...

#include <BlockIntegral.hpp>

Inheritance diagram for control::BlockIntegral:

Collaboration diagram for control::BlockIntegral:

Public Member Functions
	BlockIntegral (SuperBlock *parent, const char *name)
virtual	~BlockIntegral ()=default
float	update (float input)
float	getY ()
float	getMax ()
void	setY (float y)
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	_y
	previous output More...
BlockLimitSym	_limit
	limiter 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 rectangular integrator.

A limiter is built into the class to bound the integral's internal state. This is important for windup protection.

See also

Limit

Definition at line 59 of file BlockIntegral.hpp.

Constructor & Destructor Documentation

BlockIntegral()

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

inline

Definition at line 63 of file BlockIntegral.hpp.

~BlockIntegral()

virtual control::BlockIntegral::~BlockIntegral ( )

virtualdefault

Member Function Documentation

getMax()

float control::BlockIntegral::getMax ( )

inline

Definition at line 71 of file BlockIntegral.hpp.

Referenced by control::blockIntegralTest(), blockIntegralTest(), blockPIDTest(), control::blockPIDTest(), control::blockPITest(), and blockPITest().

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getY()

float control::BlockIntegral::getY ( )

inline

Definition at line 70 of file BlockIntegral.hpp.

Referenced by control::blockIntegralTest(), blockIntegralTest(), control::blockPIDTest(), blockPIDTest(), blockPITest(), control::blockPITest(), and update().

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setY()

void control::BlockIntegral::setY ( float  y )

inline

Definition at line 72 of file BlockIntegral.hpp.

Referenced by control::blockIntegralTest(), blockIntegralTest(), control::blockPIDTest(), blockPIDTest(), blockPITest(), control::blockPITest(), and update().

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update()

float control::BlockIntegral::update

(

float

input

)

Definition at line 48 of file BlockIntegral.cpp.

References _limit, control::Block::getDt(), getY(), setY(), and control::BlockLimitSym::update().

Referenced by control::blockIntegralTest(), and blockIntegralTest().

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Member Data Documentation

_limit

BlockLimitSym control::BlockIntegral::_limit

protected

limiter

Definition at line 76 of file BlockIntegral.hpp.

Referenced by update().

_y

float control::BlockIntegral::_y

protected

previous output

Definition at line 75 of file BlockIntegral.hpp.

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

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