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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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/* SOT */ |
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#include <sot/core/gain-hyperbolic.hh> |
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/* --------------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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#include <sot/core/debug.hh> |
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#include <sot/core/exception-signal.hh> |
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#include <sot/core/factory.hh> |
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using namespace dynamicgraph::sot; |
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using namespace dynamicgraph; |
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DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(GainHyperbolic, "GainHyperbolic"); |
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const double GainHyperbolic::ZERO_DEFAULT = .1; |
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const double GainHyperbolic::INFTY_DEFAULT = .1; |
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const double GainHyperbolic::TAN_DEFAULT = 1; |
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/* --------------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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#define __SOT_GAIN_HYPERBOLIC_INIT \ |
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Entity(name), coeff_a(0), coeff_b(0), coeff_c(0), coeff_d(0), \ |
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errorSIN(NULL, "sotGainHyperbolic(" + name + ")::input(vector)::error"), \ |
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gainSOUT(boost::bind(&GainHyperbolic::computeGain, this, _1, _2), \ |
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errorSIN, \ |
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"sotGainHyperbolic(" + name + ")::output(double)::gain") |
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GainHyperbolic::GainHyperbolic(const std::string &name) |
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: __SOT_GAIN_HYPERBOLIC_INIT { |
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sotDEBUG(15) << "New gain <" << name << ">" << std::endl; |
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init(); |
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Entity::signalRegistration(gainSOUT << errorSIN); |
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} |
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GainHyperbolic::GainHyperbolic(const std::string &name, const double &lambda) |
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: __SOT_GAIN_HYPERBOLIC_INIT { |
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init(lambda); |
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Entity::signalRegistration(gainSOUT); |
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} |
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GainHyperbolic::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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: __SOT_GAIN_HYPERBOLIC_INIT { |
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init(valueAt0, valueAtInfty, tanAt0, decal0); |
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Entity::signalRegistration(gainSOUT); |
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} |
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void GainHyperbolic::init(const double &valueAt0, const double &valueAtInfty, |
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const double &tanAt0, const double &decal0) { |
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coeff_a = valueAt0 - valueAtInfty; |
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if (0 == coeff_a) { |
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coeff_b = 0; |
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} else { |
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coeff_b = tanAt0 / coeff_a / 2; |
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} |
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coeff_c = valueAtInfty; |
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coeff_d = decal0; |
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return; |
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} |
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void GainHyperbolic::forceConstant(void) { coeff_a = 0; } |
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/* --------------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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void GainHyperbolic::display(std::ostream &os) const { |
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os << "Gain Hyperbolic " << getName(); |
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try { |
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os << " = " << double(gainSOUT.accessCopy()); |
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} catch (ExceptionSignal e) { |
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} |
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// os <<" ("<<coeff_a<<";"<<coeff_b<<";"<<coeff_c<<coeff_d<<") "; |
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os << " (" << coeff_a << ".exp(-" << coeff_b << "(x-" << coeff_d << "))+" |
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<< coeff_c; |
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} |
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/* --------------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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double &GainHyperbolic::computeGain(double &res, int t) { |
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sotDEBUGIN(15); |
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const dynamicgraph::Vector &error = errorSIN(t); |
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const double norm = error.norm(); |
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res = coeff_a * .5 * (tanh(-coeff_b * (norm - coeff_d)) + 1) + coeff_c; |
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sotDEBUGOUT(15); |
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return res; |
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} |