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/* |
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* Copyright 2010, |
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* François Bleibel, |
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* Olivier Stasse, |
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* |
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* CNRS/AIST |
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* |
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*/ |
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#ifndef __SOT_GAIN_HYPERBOLIC_HH__ |
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#define __SOT_GAIN_HYPERBOLIC_HH__ |
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/* --------------------------------------------------------------------- */ |
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/* --- INCLUDE --------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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/* Matrix */ |
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#include <dynamic-graph/linear-algebra.h> |
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/* SOT */ |
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#include <dynamic-graph/all-signals.h> |
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#include <dynamic-graph/entity.h> |
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/* --------------------------------------------------------------------- */ |
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/* --- API ------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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#if defined(WIN32) |
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#if defined(gain_hyperbolic_EXPORTS) |
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#define SOTGAINHYPERBOLIC_EXPORT __declspec(dllexport) |
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#else |
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#define SOTGAINHYPERBOLIC_EXPORT __declspec(dllimport) |
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#endif |
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#else |
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#define SOTGAINHYPERBOLIC_EXPORT |
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#endif |
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/* --------------------------------------------------------------------- */ |
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/* --- CLASS ----------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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namespace dynamicgraph { |
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namespace sot { |
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/** \brief Hyperbolic gain. |
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* It follows the law \f[ g(e) = a \frac{\tanh(-b(||e|| - d)) + 1}{2} + c \f] |
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* The default coefficients are: |
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* - \f$ a = 0 \f$, |
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* - \f$ b = 0 \f$, |
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* - \f$ c = 0.1 \f$, |
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* - \f$ d = 0 \f$. |
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*/ |
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class SOTGAINHYPERBOLIC_EXPORT GainHyperbolic : public dynamicgraph::Entity { |
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public: /* --- CONSTANTS --- */ |
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/* Default values. */ |
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static const double ZERO_DEFAULT; // = 0.1 |
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static const double INFTY_DEFAULT; // = 0.1 |
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static const double TAN_DEFAULT; // = 1. |
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public: /* --- ENTITY INHERITANCE --- */ |
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static const std::string CLASS_NAME; |
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virtual void display(std::ostream &os) const; |
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virtual const std::string &getClassName(void) const { return CLASS_NAME; } |
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protected: |
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/* Parameters of the hyperbolic-gain function: |
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* lambda (x) = a * exp (-b*x) + c. */ |
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double coeff_a; |
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double coeff_b; |
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double coeff_c; |
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double coeff_d; |
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public: /* --- CONSTRUCTORS ---- */ |
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GainHyperbolic(const std::string &name); |
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GainHyperbolic(const std::string &name, const double &lambda); |
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GainHyperbolic(const std::string &name, const double &valueAt0, |
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const double &valueAtInfty, const double &tanAt0, |
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const double &decal0); |
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public: /* --- INIT --- */ |
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inline void init(void) { init(ZERO_DEFAULT, INFTY_DEFAULT, TAN_DEFAULT, 0); } |
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inline void init(const double &lambda) { init(lambda, lambda, 1., 0); } |
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/** Set the coefficients. |
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* - \f$ a = valueAt0 - valueAtInfty \f$, |
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* - \f$ b = \frac{tanAt0}{2*a} \f$, or \f$ b = 0 \f$ if \f$ a == 0 \f$, |
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* - \f$ c = valueAtInfty \f$, |
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* - \f$ d = decal0 \f$. |
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*/ |
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void init(const double &valueAt0, const double &valueAtInfty, |
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const double &tanAt0, const double &decal0); |
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void forceConstant(void); |
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public: /* --- SIGNALS --- */ |
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dynamicgraph::SignalPtr<dynamicgraph::Vector, int> errorSIN; |
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dynamicgraph::SignalTimeDependent<double, int> gainSOUT; |
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protected: |
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double &computeGain(double &res, int t); |
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}; |
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} /* namespace sot */ |
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} /* namespace dynamicgraph */ |
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#endif // #ifndef __SOT_GAIN_HYPERBOLIC_HH__ |