dynamicgraph::sot::GainAdaptive Class Reference

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

Inheritance diagram for dynamicgraph::sot::GainAdaptive:

Public Member Functions
virtual void	display (std::ostream &os) const
virtual const std::string &	getClassName (void) const
	GainAdaptive (const std::string &name)
	GainAdaptive (const std::string &name, const double &lambda)
	GainAdaptive (const std::string &name, const double &valueAt0, const double &valueAtInfty, const double &tanAt0)
void	init (void)
void	init (const double &lambda)
void	init (const double &valueAt0, const double &valueAtInfty, const double &tanAt0)
void	initFromPassingPoint (const double &valueAt0, const double &valueAtInfty, const double &errorReference, const double &percentage)
	Set the gain by providing the value at 0, at \( \infty \) and the percentage of accomplishment between both to be reached when the error is errorReference. More...
void	forceConstant (void)

Public Attributes
dynamicgraph::SignalPtr< dynamicgraph::Vector, int >	errorSIN
dynamicgraph::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

Detailed Description

Exponentially decreasing gain. It follows the law

\[ g(e) = a \exp (-b ||e||) + c \]

.

The default values for

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

Constructor & Destructor Documentation

GainAdaptive() [1/3]

dynamicgraph::sot::GainAdaptive::GainAdaptive

(

const std::string &

name

)

GainAdaptive() [2/3]

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

GainAdaptive() [3/3]

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

Member Function Documentation

computeGain()

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

protected

display()

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

virtual

forceConstant()

void dynamicgraph::sot::GainAdaptive::forceConstant

(

void

)

getClassName()

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

inlinevirtual

init() [1/3]

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

inline

init() [2/3]

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

init() [3/3]

void dynamicgraph::sot::GainAdaptive::init ( void  )

inline

initFromPassingPoint()

void dynamicgraph::sot::GainAdaptive::initFromPassingPoint	(	const double &	valueAt0,
		const double &	valueAtInfty,
		const double &	errorReference,
		const double &	percentage
	)

Set the gain by providing the value at 0, at \( \infty \) and the percentage of accomplishment between both to be reached when the error is errorReference.

To visualize the curve of the gain versus the error, use

from dynamic_graph.sot.core.gain_adaptive import GainAdaptive
import numpy, matplotlib.pyplot as plt
g = GainAdaptive('g')
g.setByPoint(4.9, 0.001, 0.01, 0.1)
 
errors = numpy.linspace(0, 0.1, 1000)
def compute(e):
    t = g.error.time + 1
    g.error.value = (e,)
    g.error.time = t
    g.gain.recompute(t)
    return g.gain.value
 
gains = [ compute(e) for e in errors ]
 
lg = plt.plot(errors, gains, 'r', label="Gain")
ld = plt.twinx().plot(errors, [ g*e for e,g in zip(errors,gains) ], 'b',
  label="Derivative")
lines = lg + ld
plt.legend(lines, [l.get_label() for l in lines])
plt.show()

Member Data Documentation

CLASS_NAME

const std::string dynamicgraph::sot::GainAdaptive::CLASS_NAME

static

coeff_a

double dynamicgraph::sot::GainAdaptive::coeff_a

protected

coeff_b

double dynamicgraph::sot::GainAdaptive::coeff_b

protected

coeff_c

double dynamicgraph::sot::GainAdaptive::coeff_c

protected

errorSIN

dynamicgraph::SignalPtr<dynamicgraph::Vector, int> dynamicgraph::sot::GainAdaptive::errorSIN

gainSOUT

dynamicgraph::SignalTimeDependent<double, int> dynamicgraph::sot::GainAdaptive::gainSOUT

INFTY_DEFAULT

const double dynamicgraph::sot::GainAdaptive::INFTY_DEFAULT

static

TAN_DEFAULT

const double dynamicgraph::sot::GainAdaptive::TAN_DEFAULT

static

ZERO_DEFAULT

const double dynamicgraph::sot::GainAdaptive::ZERO_DEFAULT

static

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

• include/sot/core/gain-adaptive.hh