GCC Code Coverage Report

Directory: ./
File: include/sot/core/gain-adaptive.hh
Date: 2025-05-13 12:28:21
Exec Total Coverage
Lines: 1 3 33.3%
Branches: 0 2 0.0%
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1 /*
2 * Copyright 2010,
3 * François Bleibel,
4 * Olivier Stasse,
5 *
6 * CNRS/AIST
7 *
8 */
9
10 #ifndef __SOT_GAIN_ADAPTATIVE_HH__
11 #define __SOT_GAIN_ADAPTATIVE_HH__
12
13 /* --------------------------------------------------------------------- */
14 /* --- INCLUDE --------------------------------------------------------- */
15 /* --------------------------------------------------------------------- */
16
17 /* Matrix */
18 #include <dynamic-graph/linear-algebra.h>
19
20 /* SOT */
21 #include <dynamic-graph/all-signals.h>
22 #include <dynamic-graph/entity.h>
23
24 /* --------------------------------------------------------------------- */
25 /* --- API ------------------------------------------------------------- */
26 /* --------------------------------------------------------------------- */
27
28 #if defined(WIN32)
29 #if defined(gain_adaptive_EXPORTS)
30 #define SOTGAINADAPTATIVE_EXPORT __declspec(dllexport)
31 #else
32 #define SOTGAINADAPTATIVE_EXPORT __declspec(dllimport)
33 #endif
34 #else
35 #define SOTGAINADAPTATIVE_EXPORT
36 #endif
37
38 /* --------------------------------------------------------------------- */
39 /* --- CLASS ----------------------------------------------------------- */
40 /* --------------------------------------------------------------------- */
41
42 namespace dynamicgraph {
43 namespace sot {
44
45 /** Exponentially decreasing gain.
46 * It follows the law \f[ g(e) = a \exp (-b ||e||) + c \f].
47 *
48 * The default values for
49 * - \f$ a = 0 \f$,
50 * - \f$ b = 0 \f$,
51 * - \f$ c = 0.1 \f$.
52 */
53 class SOTGAINADAPTATIVE_EXPORT GainAdaptive : public dynamicgraph::Entity {
54 public: /* --- CONSTANTS --- */
55 /* Default values. */
56 static const double ZERO_DEFAULT; // = 0.1
57 static const double INFTY_DEFAULT; // = 0.1
58 static const double TAN_DEFAULT; // = 1.
59
60 public: /* --- ENTITY INHERITANCE --- */
61 static const std::string CLASS_NAME;
62 virtual void display(std::ostream &os) const;
63 ✗ virtual const std::string &getClassName(void) const { return CLASS_NAME; }
64
65 protected:
66 /* Parameters of the adaptative-gain function:
67 * lambda (x) = a * exp (-b*x) + c. */
68 double coeff_a;
69 double coeff_b;
70 double coeff_c;
71
72 public: /* --- CONSTRUCTORS ---- */
73 GainAdaptive(const std::string &name);
74 GainAdaptive(const std::string &name, const double &lambda);
75 GainAdaptive(const std::string &name, const double &valueAt0,
76 const double &valueAtInfty, const double &tanAt0);
77
78 public: /* --- INIT --- */
79 2 inline void init(void) { init(ZERO_DEFAULT, INFTY_DEFAULT, TAN_DEFAULT); }
80 ✗ inline void init(const double &lambda) { init(lambda, lambda, 1.); }
81 void init(const double &valueAt0, const double &valueAtInfty,
82 const double &tanAt0);
83 /** \brief Set the gain
84 * by providing the value at 0, at \f$ \infty \f$ and the percentage of
85 * accomplishment between both to be reached when the error is
86 * \c errorReference.
87 *
88 * To visualize the curve of the gain versus the error, use
89 * \code{.py}
90 * from dynamic_graph.sot.core.gain_adaptive import GainAdaptive
91 * import numpy, matplotlib.pyplot as plt
92 * g = GainAdaptive('g')
93 * g.setByPoint(4.9, 0.001, 0.01, 0.1)
94 *
95 * errors = numpy.linspace(0, 0.1, 1000)
96 * def compute(e):
97 * t = g.error.time + 1
98 * g.error.value = (e,)
99 * g.error.time = t
100 * g.gain.recompute(t)
101 * return g.gain.value
102 *
103 * gains = [ compute(e) for e in errors ]
104 *
105 * lg = plt.plot(errors, gains, 'r', label="Gain")
106 * ld = plt.twinx().plot(errors, [ g*e for e,g in zip(errors,gains) ], 'b',
107 * label="Derivative")
108 * lines = lg + ld
109 * plt.legend(lines, [l.get_label() for l in lines])
110 * plt.show()
111 * \endcode
112 */
113 void initFromPassingPoint(const double &valueAt0, const double &valueAtInfty,
114 const double &errorReference,
115 const double &percentage);
116 void forceConstant(void);
117
118 public: /* --- SIGNALS --- */
119 dynamicgraph::SignalPtr<dynamicgraph::Vector, int> errorSIN;
120 dynamicgraph::SignalTimeDependent<double, int> gainSOUT;
121
122 protected:
123 double &computeGain(double &res, int t);
124
125 private:
126 void addCommands();
127 };
128
129 } /* namespace sot */
130 } /* namespace dynamicgraph */
131
132 #endif // #ifndef __SOT_GAIN_ADAPTATIVE_HH__
133