dynamicgraph::sot::IntegratorAbstract< sigT, coefT > Class Template Reference

integrates an ODE. If Y is the output and X the input, the following equation is integrated: a_p * d(p)Y / dt^p + .... + a_0 Y = b_m * d(m)X / dt^m + ... . b_0 X a_i are the coefficients of the denominator of the associated transfer function between X and Y, while the b_i are those of the numerator. More...

#include <sot/core/integrator-abstract.hh>

Inheritance diagram for dynamicgraph::sot::IntegratorAbstract< sigT, coefT >:

Public Member Functions
	IntegratorAbstract (const std::string &name)
virtual	~IntegratorAbstract ()
virtual sigT &	integrate (sigT &res, int time)=0
void	pushNumCoef (const coefT &numCoef)
void	pushDenomCoef (const coefT &denomCoef)
void	popNumCoef ()
void	popDenomCoef ()
Public Member Functions inherited from dynamicgraph::Entity
	Entity (const std::string &name)
virtual	~Entity ()
const std::string &	getName () const
virtual const std::string &	getClassName () const
virtual std::string	getDocString () const
bool	hasSignal (const std::string &signame) const
SignalBase< int > &	getSignal (const std::string &signalName)
const SignalBase< int > &	getSignal (const std::string &signalName) const
std::ostream &	displaySignalList (std::ostream &os) const
virtual std::ostream &	writeGraph (std::ostream &os) const
virtual std::ostream &	writeCompletionList (std::ostream &os) const
virtual void	display (std::ostream &os) const
virtual SignalBase< int > *	test ()
virtual void	test2 (SignalBase< int > *)
const std::string &	getCommandList () const
CommandMap_t	getNewStyleCommandMap ()
command::Command *	getNewStyleCommand (const std::string &cmdName)
SignalMap	getSignalMap () const
void	sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const char *file="", int line=0)
void	setLoggerVerbosityLevel (LoggerVerbosity lv)
LoggerVerbosity	getLoggerVerbosityLevel ()

Public Attributes
dg::SignalPtr< sigT, int >	SIN
dg::SignalTimeDependent< sigT, int >	SOUT

Protected Attributes
std::vector< coefT >	numerator
std::vector< coefT >	denominator
Protected Attributes inherited from dynamicgraph::Entity
std::string	name
SignalMap	signalMap
CommandMap_t	commandMap
Logger	logger_

Additional Inherited Members
Public Types inherited from dynamicgraph::Entity
typedef std::map< std::string, SignalBase< int > * >	SignalMap
typedef std::map< const std::string, command::Command * >	CommandMap_t
Protected Member Functions inherited from dynamicgraph::Entity
void	addCommand (const std::string &name, command::Command *command)
void	entityRegistration ()
void	entityDeregistration ()
void	signalRegistration (const SignalArray< int > &signals)
void	signalDeregistration (const std::string &name)

Detailed Description

template<class sigT, class coefT>
class dynamicgraph::sot::IntegratorAbstract< sigT, coefT >

integrates an ODE. If Y is the output and X the input, the following equation is integrated: a_p * d(p)Y / dt^p + .... + a_0 Y = b_m * d(m)X / dt^m + ... . b_0 X a_i are the coefficients of the denominator of the associated transfer function between X and Y, while the b_i are those of the numerator.

Constructor & Destructor Documentation

template<class sigT , class coefT >

dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::IntegratorAbstract ( const std::string &  name )

inline

References dynamicgraph::Entity::addCommand(), docCommandVoid0(), docCommandVoid1(), makeCommandVoid0(), makeCommandVoid1(), dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::popDenomCoef(), dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::popNumCoef(), dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::pushDenomCoef(), dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::pushNumCoef(), dynamicgraph::Entity::signalRegistration(), dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::SIN, and dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::SOUT.

template<class sigT , class coefT >

virtual dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::~IntegratorAbstract ( )

inlinevirtual

References dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::integrate().

Member Function Documentation

template<class sigT , class coefT >

virtual sigT& dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::integrate ( sigT &  res, int  time  )

pure virtual

Implemented in dynamicgraph::sot::IntegratorEuler< sigT, coefT >.

Referenced by dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::~IntegratorAbstract().

template<class sigT , class coefT >

void dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::popDenomCoef ( )

inline

References dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::denominator.

Referenced by dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::IntegratorAbstract().

template<class sigT , class coefT >

void dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::popNumCoef ( )

inline

References dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::numerator.

Referenced by dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::IntegratorAbstract().

template<class sigT , class coefT >

void dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::pushDenomCoef ( const coefT &  denomCoef )

inline

References dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::denominator.

Referenced by dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::IntegratorAbstract().

template<class sigT , class coefT >

void dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::pushNumCoef ( const coefT &  numCoef )

inline

References dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::numerator.

Referenced by dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::IntegratorAbstract().

Member Data Documentation

template<class sigT , class coefT >

std::vector<coefT> dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::denominator

protected

Referenced by dynamicgraph::sot::IntegratorEuler< sigT, coefT >::initialize(), dynamicgraph::sot::IntegratorEuler< sigT, coefT >::integrate(), dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::popDenomCoef(), and dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::pushDenomCoef().

template<class sigT , class coefT >

std::vector<coefT> dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::numerator

protected

Referenced by dynamicgraph::sot::IntegratorEuler< sigT, coefT >::initialize(), dynamicgraph::sot::IntegratorEuler< sigT, coefT >::integrate(), dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::popNumCoef(), and dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::pushNumCoef().

template<class sigT , class coefT >

dg::SignalPtr<sigT, int> dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::SIN

Referenced by dynamicgraph::sot::IntegratorEuler< sigT, coefT >::initialize(), dynamicgraph::sot::IntegratorEuler< sigT, coefT >::integrate(), and dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::IntegratorAbstract().

template<class sigT , class coefT >

dg::SignalTimeDependent<sigT, int> dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::SOUT

Referenced by dynamicgraph::sot::IntegratorEuler< sigT, coefT >::derivative(), and dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::IntegratorAbstract().