dynamicgraph::sot::GainHyperbolic Class Reference

Hyperbolic gain. More...

#include <sot/core/gain-hyperbolic.hh>

Inheritance diagram for dynamicgraph::sot::GainHyperbolic:

Public Member Functions
virtual void	display (std::ostream &os) const
virtual const std::string &	getClassName (void) const
	GainHyperbolic (const std::string &name)
	GainHyperbolic (const std::string &name, const double &lambda)
	GainHyperbolic (const std::string &name, const double &valueAt0, const double &valueAtInfty, const double &tanAt0, const double &decal0)
void	init (void)
void	init (const double &lambda)
void	init (const double &valueAt0, const double &valueAtInfty, const double &tanAt0, const double &decal0)
	Set the coefficients. More...
void	forceConstant (void)

Public Attributes
dg::SignalPtr< dg::Vector, int >	errorSIN
dg::SignalTimeDependent< double, int >	gainSOUT

Static Public Attributes
static const double	ZERO_DEFAULT
static const double	INFTY_DEFAULT
static const double	TAN_DEFAULT
static const std::string	CLASS_NAME

Protected Member Functions
double &	computeGain (double &res, int t)

Protected Attributes
double	coeff_a
double	coeff_b
double	coeff_c
double	coeff_d

Detailed Description

Hyperbolic gain.

It follows the law

\[ g(e) = a \frac{\tanh(-b(||e|| - d)) + 1}{2} + c \]

The default coefficients are:

• \( a = 0 \),
• \( b = 0 \),
• \( c = 0.1 \),
• \( d = 0 \).

Constructor & Destructor Documentation

GainHyperbolic() [1/3]

dynamicgraph::sot::GainHyperbolic::GainHyperbolic

(

const std::string &

name

)

GainHyperbolic() [2/3]

dynamicgraph::sot::GainHyperbolic::GainHyperbolic	(	const std::string &	name,
		const double &	lambda
	)

GainHyperbolic() [3/3]

dynamicgraph::sot::GainHyperbolic::GainHyperbolic	(	const std::string &	name,
		const double &	valueAt0,
		const double &	valueAtInfty,
		const double &	tanAt0,
		const double &	decal0
	)

Member Function Documentation

computeGain()

double& dynamicgraph::sot::GainHyperbolic::computeGain ( double &  res, int  t  )

protected

display()

virtual void dynamicgraph::sot::GainHyperbolic::display ( std::ostream &  os ) const

virtual

forceConstant()

void dynamicgraph::sot::GainHyperbolic::forceConstant

(

void

)

getClassName()

virtual const std::string& dynamicgraph::sot::GainHyperbolic::getClassName ( void  ) const

inlinevirtual

init() [1/3]

void dynamicgraph::sot::GainHyperbolic::init ( void  )

inline

References init().

Referenced by init().

init() [2/3]

void dynamicgraph::sot::GainHyperbolic::init ( const double &  lambda )

inline

References init().

Referenced by init().

init() [3/3]

void dynamicgraph::sot::GainHyperbolic::init	(	const double &	valueAt0,
		const double &	valueAtInfty,
		const double &	tanAt0,
		const double &	decal0
	)

Set the coefficients.

• \( a = valueAt0 - valueAtInfty \),
• \( b = \frac{tanAt0}{2*a} \), or \( b = 0 \) if \( a == 0 \),
• \( c = valueAtInfty \),
• \( d = decal0 \).

Member Data Documentation

CLASS_NAME

const std::string dynamicgraph::sot::GainHyperbolic::CLASS_NAME

static

coeff_a

double dynamicgraph::sot::GainHyperbolic::coeff_a

protected

coeff_b

double dynamicgraph::sot::GainHyperbolic::coeff_b

protected

coeff_c

double dynamicgraph::sot::GainHyperbolic::coeff_c

protected

coeff_d

double dynamicgraph::sot::GainHyperbolic::coeff_d

protected

errorSIN

dg::SignalPtr<dg::Vector, int> dynamicgraph::sot::GainHyperbolic::errorSIN

gainSOUT

dg::SignalTimeDependent<double, int> dynamicgraph::sot::GainHyperbolic::gainSOUT

INFTY_DEFAULT

const double dynamicgraph::sot::GainHyperbolic::INFTY_DEFAULT

static

TAN_DEFAULT

const double dynamicgraph::sot::GainHyperbolic::TAN_DEFAULT

static

ZERO_DEFAULT

const double dynamicgraph::sot::GainHyperbolic::ZERO_DEFAULT

static