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 ()
const std::vector< coefT > &	numCoeffs () const
void	numCoeffs (const std::vector< coefT > &coeffs)
const std::vector< coefT > &	denomCoeffs () const
void	denomCoeffs (const std::vector< coefT > &coeffs)
virtual void	display (std::ostream &os) const

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

Protected Attributes
std::vector< coefT >	numerator
std::vector< coefT >	denominator

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

IntegratorAbstract()

template<class sigT , class coefT >

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

inline

~IntegratorAbstract()

template<class sigT , class coefT >

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

inlinevirtual

Member Function Documentation

denomCoeffs() [1/2]

template<class sigT , class coefT >

const std::vector<coefT>& dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::denomCoeffs ( ) const

inline

denomCoeffs() [2/2]

template<class sigT , class coefT >

void dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::denomCoeffs ( const std::vector< coefT > &  coeffs )

inline

display()

template<class sigT , class coefT >

virtual void dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::display ( std::ostream &  os ) const

inlinevirtual

integrate()

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 >.

numCoeffs() [1/2]

template<class sigT , class coefT >

const std::vector<coefT>& dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::numCoeffs ( ) const

inline

numCoeffs() [2/2]

template<class sigT , class coefT >

void dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::numCoeffs ( const std::vector< coefT > &  coeffs )

inline

popDenomCoef()

template<class sigT , class coefT >

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

inline

popNumCoef()

template<class sigT , class coefT >

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

inline

pushDenomCoef()

template<class sigT , class coefT >

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

inline

pushNumCoef()

template<class sigT , class coefT >

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

inline

Member Data Documentation

denominator

template<class sigT , class coefT >

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

protected

numerator

template<class sigT , class coefT >

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

protected

SIN

template<class sigT , class coefT >

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

SOUT

template<class sigT , class coefT >

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

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The documentation for this class was generated from the following file:

• include/sot/core/integrator-abstract.hh