control::BlockIntegralTrap Class Reference

A trapezoidal integrator. More...

#include <BlockIntegralTrap.hpp>

Inheritance diagram for control::BlockIntegralTrap:

Collaboration diagram for control::BlockIntegralTrap:

Public Member Functions
	BlockIntegralTrap (SuperBlock *parent, const char *name)
virtual	~BlockIntegralTrap ()=default
float	update (float input)
float	getU ()
float	getY ()
float	getMax ()
void	setU (float u)
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	_u
	previous input More...
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 trapezoidal integrator.

http://en.wikipedia.org/wiki/Trapezoidal_rule 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 66 of file BlockIntegralTrap.hpp.

Constructor & Destructor Documentation

BlockIntegralTrap()

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

inline

Definition at line 70 of file BlockIntegralTrap.hpp.

~BlockIntegralTrap()

virtual control::BlockIntegralTrap::~BlockIntegralTrap ( )

virtualdefault

Member Function Documentation

getMax()

float control::BlockIntegralTrap::getMax ( )

inline

Definition at line 80 of file BlockIntegralTrap.hpp.

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

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getU()

float control::BlockIntegralTrap::getU ( )

inline

Definition at line 78 of file BlockIntegralTrap.hpp.

Referenced by control::blockIntegralTrapTest(), blockIntegralTrapTest(), and update().

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getY()

float control::BlockIntegralTrap::getY ( )

inline

Definition at line 79 of file BlockIntegralTrap.hpp.

Referenced by control::blockIntegralTrapTest(), blockIntegralTrapTest(), and update().

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setU()

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

inline

Definition at line 81 of file BlockIntegralTrap.hpp.

Referenced by control::blockIntegralTrapTest(), blockIntegralTrapTest(), and update().

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setY()

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

inline

Definition at line 82 of file BlockIntegralTrap.hpp.

Referenced by control::blockIntegralTrapTest(), blockIntegralTrapTest(), and update().

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update()

float control::BlockIntegralTrap::update

(

float

input

)

Definition at line 48 of file BlockIntegralTrap.cpp.

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

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

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Member Data Documentation

_limit

BlockLimitSym control::BlockIntegralTrap::_limit

protected

limiter

Definition at line 87 of file BlockIntegralTrap.hpp.

Referenced by update().

_u

float control::BlockIntegralTrap::_u

protected

previous input

Definition at line 85 of file BlockIntegralTrap.hpp.

_y

float control::BlockIntegralTrap::_y

protected

previous output

Definition at line 86 of file BlockIntegralTrap.hpp.

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

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