iCub::ctrl::Integrator Class Reference

A class for defining a saturated integrator based on Tustin formula: \( 1/s => T_s/2*(z+1)/(z-1) \). More...

#include <pids.h>

Public Member Functions
	Integrator (const double _Ts, const yarp::sig::Vector &y0, const yarp::sig::Matrix &_lim)
	Constructor.
	Integrator (const double _Ts, const yarp::sig::Vector &y0)
	Constructor.
	Integrator (const Integrator &I)
	Creates a new Integrator from an already existing object.
Integrator &	operator= (const Integrator &I)
	Copies a Integrator object into the current one.
const yarp::sig::Vector &	integrate (const yarp::sig::Vector &x)
	Executes one-step integration of input vector.
void	setSaturation (bool _applySat)
	Sets the saturation status.
bool	getSaturation ()
	Returns the current saturation status.
void	setTs (const double _Ts)
	Sets the sample time.
void	setLim (const yarp::sig::Matrix &_lim)
	Sets the output vector constraints matrix.
double	getTs ()
	Returns the sample time.
const yarp::sig::Matrix &	getLim ()
	Returns the constraints matrix.
void	reset (const yarp::sig::Vector &y0)
	Resets the internal state and sets the output vector to the given value.
const yarp::sig::Vector &	get () const
	Returns the current output vector.

Protected Member Functions
void	allocate (const Integrator &I)
yarp::sig::Vector	saturate (const yarp::sig::Vector &v)

Protected Attributes
unsigned int	dim
yarp::sig::Vector	y
yarp::sig::Vector	x_old
yarp::sig::Matrix	lim
double	Ts
bool	applySat

Detailed Description

A class for defining a saturated integrator based on Tustin formula: \( 1/s => T_s/2*(z+1)/(z-1) \).

Definition at line 47 of file pids.h.

Constructor & Destructor Documentation

Integrator() [1/3]

iCub::ctrl::Integrator::Integrator	(	const double	_Ts,
		const yarp::sig::Vector &	y0,
		const yarp::sig::Matrix &	_lim
	)

Constructor.

Parameters

_Ts	is the integrator sample time.
y0	is the initial value of the output vector.
_lim	is a Nx2 matrix describing for each row i the lower (1st column) and the upper limit (2nd column) of the ith component: _lim(i,1)<=output[i]<=_lim(i,2)

Note

The saturation here is on by default

Integrator() [2/3]

iCub::ctrl::Integrator::Integrator	(	const double	_Ts,
		const yarp::sig::Vector &	y0
	)

Constructor.

Parameters

_Ts	is the integrator sample time.
y0	is the initial value of the output vector.

Note

The saturation here is off by default.

Integrator() [3/3]

iCub::ctrl::Integrator::Integrator ( const Integrator &  I )

inline

Creates a new Integrator from an already existing object.

Parameters

I	is the Integrator to be copied.

Definition at line 89 of file pids.h.

Member Function Documentation

allocate()

void Integrator::allocate ( const Integrator &  I )

protected

Definition at line 56 of file pids.cpp.

get()

const yarp::sig::Vector & iCub::ctrl::Integrator::get ( ) const

inline

Returns the current output vector.

Returns

the current output vector.

Definition at line 154 of file pids.h.

getLim()

const yarp::sig::Matrix & iCub::ctrl::Integrator::getLim ( )

inline

Returns the constraints matrix.

Returns

the constraints matrix.

Definition at line 141 of file pids.h.

getSaturation()

bool iCub::ctrl::Integrator::getSaturation ( )

inline

Returns the current saturation status.

Returns

current saturation status.

Definition at line 117 of file pids.h.

getTs()

double iCub::ctrl::Integrator::getTs ( )

inline

Returns the sample time.

Returns

the sample time.

Definition at line 135 of file pids.h.

integrate()

const Vector & Integrator::integrate

(

const yarp::sig::Vector &

x

)

Executes one-step integration of input vector.

To be called each Ts seconds.

Parameters

x	is the input vector to be integrated.

Returns

the current output vector.

Definition at line 115 of file pids.cpp.

operator=()

Integrator & iCub::ctrl::Integrator::operator= ( const Integrator &  I )

inline

Copies a Integrator object into the current one.

Parameters

I	is a reference to an object of type Integrator.

Returns

a reference to the current object.

Definition at line 96 of file pids.h.

reset()

void Integrator::reset

(

const yarp::sig::Vector &

y0

)

Resets the internal state and sets the output vector to the given value.

Parameters

y0	is the new value of output vector.

Definition at line 128 of file pids.cpp.

saturate()

Vector Integrator::saturate ( const yarp::sig::Vector &  v )

protected

Definition at line 67 of file pids.cpp.

setLim()

void Integrator::setLim

(

const yarp::sig::Matrix &

_lim

)

Sets the output vector constraints matrix.

Parameters

_lim	is the constraints matrix.

Definition at line 104 of file pids.cpp.

setSaturation()

void Integrator::setSaturation

(

bool

_applySat

)

Sets the saturation status.

Parameters

_applySat

if true then the saturation is applied (initialized as true).

Definition at line 87 of file pids.cpp.

setTs()

void Integrator::setTs

(

const double

_Ts

)

Sets the sample time.

Parameters

_Ts	is the sample time.

Definition at line 96 of file pids.cpp.

Member Data Documentation

applySat

bool iCub::ctrl::Integrator::applySat

protected

Definition at line 59 of file pids.h.

dim

unsigned int iCub::ctrl::Integrator::dim

protected

Definition at line 54 of file pids.h.

lim

yarp::sig::Matrix iCub::ctrl::Integrator::lim

protected

Definition at line 57 of file pids.h.

Ts

double iCub::ctrl::Integrator::Ts

protected

Definition at line 58 of file pids.h.

x_old

yarp::sig::Vector iCub::ctrl::Integrator::x_old

protected

Definition at line 56 of file pids.h.

y

yarp::sig::Vector iCub::ctrl::Integrator::y

protected

Definition at line 55 of file pids.h.

---

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

• icub-main/src/libraries/ctrlLib/include/iCub/ctrl/pids.h
• icub-main/src/libraries/ctrlLib/src/pids.cpp