GCC Code Coverage Report


Directory: ./
File: include/sot/core/gain-hyperbolic.hh
Date: 2024-12-13 12:22:33
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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_HYPERBOLIC_HH__
11 #define __SOT_GAIN_HYPERBOLIC_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_hyperbolic_EXPORTS)
30 #define SOTGAINHYPERBOLIC_EXPORT __declspec(dllexport)
31 #else
32 #define SOTGAINHYPERBOLIC_EXPORT __declspec(dllimport)
33 #endif
34 #else
35 #define SOTGAINHYPERBOLIC_EXPORT
36 #endif
37
38 /* --------------------------------------------------------------------- */
39 /* --- CLASS ----------------------------------------------------------- */
40 /* --------------------------------------------------------------------- */
41
42 namespace dynamicgraph {
43 namespace sot {
44
45 /** \brief Hyperbolic gain.
46 * It follows the law \f[ g(e) = a \frac{\tanh(-b(||e|| - d)) + 1}{2} + c \f]
47 * The default coefficients are:
48 * - \f$ a = 0 \f$,
49 * - \f$ b = 0 \f$,
50 * - \f$ c = 0.1 \f$,
51 * - \f$ d = 0 \f$.
52 */
53 class SOTGAINHYPERBOLIC_EXPORT GainHyperbolic : public dynamicgraph::Entity {
54 public: /* --- CONSTANTS --- */
55 /* Default values. */
56 static const double ZERO_DEFAULT; // = 0.1
57 static const double INFTY_DEFAULT; // = 0.1
58 static const double TAN_DEFAULT; // = 1.
59
60 public: /* --- ENTITY INHERITANCE --- */
61 static const std::string CLASS_NAME;
62 virtual void display(std::ostream &os) const;
63 virtual const std::string &getClassName(void) const { return CLASS_NAME; }
64
65 protected:
66 /* Parameters of the hyperbolic-gain function:
67 * lambda (x) = a * exp (-b*x) + c. */
68 double coeff_a;
69 double coeff_b;
70 double coeff_c;
71 double coeff_d;
72
73 public: /* --- CONSTRUCTORS ---- */
74 GainHyperbolic(const std::string &name);
75 GainHyperbolic(const std::string &name, const double &lambda);
76 GainHyperbolic(const std::string &name, const double &valueAt0,
77 const double &valueAtInfty, const double &tanAt0,
78 const double &decal0);
79
80 public: /* --- INIT --- */
81 inline void init(void) { init(ZERO_DEFAULT, INFTY_DEFAULT, TAN_DEFAULT, 0); }
82 inline void init(const double &lambda) { init(lambda, lambda, 1., 0); }
83 /** Set the coefficients.
84 * - \f$ a = valueAt0 - valueAtInfty \f$,
85 * - \f$ b = \frac{tanAt0}{2*a} \f$, or \f$ b = 0 \f$ if \f$ a == 0 \f$,
86 * - \f$ c = valueAtInfty \f$,
87 * - \f$ d = decal0 \f$.
88 */
89 void init(const double &valueAt0, const double &valueAtInfty,
90 const double &tanAt0, const double &decal0);
91 void forceConstant(void);
92
93 public: /* --- SIGNALS --- */
94 dynamicgraph::SignalPtr<dynamicgraph::Vector, int> errorSIN;
95 dynamicgraph::SignalTimeDependent<double, int> gainSOUT;
96
97 protected:
98 double &computeGain(double &res, int t);
99 };
100
101 } /* namespace sot */
102 } /* namespace dynamicgraph */
103
104 #endif // #ifndef __SOT_GAIN_HYPERBOLIC_HH__
105