dynamicgraph::sot::IntegratorAbstract< sigT, coefT > Class Template Reference

integrates an ODE. If Y is the output and X the input, the following equation is integrated: a_p * d(p)Y / dt^p + .... + a_0 Y = b_m * d(m)X / dt^m + ... . b_0 X a_i are the coefficients of the denominator of the associated transfer function between X and Y, while the b_i are those of the numerator. More...

#include <sot/core/integrator-abstract.hh>

Inheritance diagram for dynamicgraph::sot::IntegratorAbstract< sigT, coefT >:

Public Member Functions
	IntegratorAbstract (const std::string &name)
virtual	~IntegratorAbstract ()
virtual sigT &	integrate (sigT &res, int time)=0
void	pushNumCoef (const coefT &numCoef)
void	pushDenomCoef (const coefT &denomCoef)
void	popNumCoef ()
void	popDenomCoef ()

Public Attributes
dg::SignalPtr< sigT, int >	SIN
dg::SignalTimeDependent< sigT, int >	SOUT

Protected Attributes
std::vector< coefT >	numerator
std::vector< coefT >	denominator

Detailed Description

template<class sigT, class coefT>
class dynamicgraph::sot::IntegratorAbstract< sigT, coefT >

integrates an ODE. If Y is the output and X the input, the following equation is integrated: a_p * d(p)Y / dt^p + .... + a_0 Y = b_m * d(m)X / dt^m + ... . b_0 X a_i are the coefficients of the denominator of the associated transfer function between X and Y, while the b_i are those of the numerator.

Constructor & Destructor Documentation

IntegratorAbstract()

template<class sigT , class coefT >

dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::IntegratorAbstract ( const std::string &  name )

inline

References dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::popDenomCoef(), dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::popNumCoef(), dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::pushDenomCoef(), dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::pushNumCoef(), dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::SIN, and dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::SOUT.

~IntegratorAbstract()

template<class sigT , class coefT >

virtual dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::~IntegratorAbstract ( )

inlinevirtual

References dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::integrate().

Member Function Documentation

integrate()

template<class sigT , class coefT >

virtual sigT& dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::integrate ( sigT &  res, int  time  )

pure virtual

Implemented in dynamicgraph::sot::IntegratorEuler< sigT, coefT >.

Referenced by dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::~IntegratorAbstract().

popDenomCoef()

template<class sigT , class coefT >

void dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::popDenomCoef ( )

inline

References dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::denominator.

Referenced by dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::IntegratorAbstract().

popNumCoef()

template<class sigT , class coefT >

void dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::popNumCoef ( )

inline

References dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::numerator.

Referenced by dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::IntegratorAbstract().

pushDenomCoef()

template<class sigT , class coefT >

void dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::pushDenomCoef ( const coefT &  denomCoef )

inline

References dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::denominator.

Referenced by dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::IntegratorAbstract().

pushNumCoef()

template<class sigT , class coefT >

void dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::pushNumCoef ( const coefT &  numCoef )

inline

References dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::numerator.

Referenced by dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::IntegratorAbstract().

Member Data Documentation

denominator

template<class sigT , class coefT >

std::vector<coefT> dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::denominator

protected

Referenced by dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::popDenomCoef(), and dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::pushDenomCoef().

numerator

template<class sigT , class coefT >

std::vector<coefT> dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::numerator

protected

Referenced by dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::popNumCoef(), and dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::pushNumCoef().

SIN

template<class sigT , class coefT >

dg::SignalPtr<sigT, int> dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::SIN

Referenced by dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::IntegratorAbstract().

SOUT

template<class sigT , class coefT >

dg::SignalTimeDependent<sigT, int> dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::SOUT

Referenced by dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::IntegratorAbstract().