cpp_robotics::Differentiator

疑似微分器 More...

#include <differentiator.hpp>

Inherits from cpp_robotics::TransferFunction

Public Functions

	Name
	Differentiator(double omega, double dt) Construct a new Differentiator object.
virtual void	reset(double state =0) override
void	reset_test(double state =0, double input =0)
double	filtering(double u) フィルタリングする
double	omega() const 時定数の取得

Additional inherited members

Public Classes inherited from cpp_robotics::TransferFunction

	Name
struct	tf_t

Protected Classes inherited from cpp_robotics::TransferFunction

	Name
class	CircularBuffer

Public Functions inherited from cpp_robotics::TransferFunction

	Name
TransferFunction	make_first_order_system(const double T, const double Ts)
TransferFunction	make_second_order_system(const double omega, const double zeta, const double Ts)
	TransferFunction() =default
	TransferFunction(std::vector< double > num, std::vector< double > den, const double Ts) Construct a new Transfer Function object.
	TransferFunction(const tf_t & tf_config)
void	set_continuous(std::vector< double > num, std::vector< double > den, const double dt)
void	set_discrite(std::vector< double > num_disc, std::vector< double > den_disc, const double dt)
double	Ts() const サンプリング周期
double	responce(double u)
size_t	num_deg(size_t num_idx =0) const
size_t	den_deg(size_t num_idx =0) const
std::vector< double >	num_array() const
std::vector< double >	den_array() const
	operator tf_t() const
tf_t	inv() const
tf_t	operator+(double val) const
tf_t	operator-(double val) const
tf_t	operator*(double val) const
tf_t	operator/(double val) const

Protected Attributes inherited from cpp_robotics::TransferFunction

	Name
std::vector< double >	num_array_
std::vector< double >	den_array_
std::vector< double >	num_
std::vector< double >	den_
CircularBuffer< double >	u_
CircularBuffer< double >	y_
double	dt_

Friends inherited from cpp_robotics::TransferFunction

	Name
tf_t	operator+(double val, const TransferFunction & tf)
tf_t	operator-(double val, const TransferFunction & tf)
tf_t	operator*(double val, const TransferFunction & tf)
tf_t	operator/(double val, const TransferFunction & tf)
tf_t	operator+(const tf_t & a, const TransferFunction & b)
tf_t	operator-(const tf_t & a, const TransferFunction & b)
tf_t	operator*(const tf_t & a, const TransferFunction & b)
tf_t	operator/(const tf_t & a, const TransferFunction & b)
tf_t	operator+(const TransferFunction & a, const tf_t & b)
tf_t	operator-(const TransferFunction & a, const tf_t & b)
tf_t	operator*(const TransferFunction & a, const tf_t & b)
tf_t	operator/(const TransferFunction & a, const tf_t & b)
tf_t	operator+(const TransferFunction & a, const TransferFunction & b)
tf_t	operator-(const TransferFunction & a, const TransferFunction & b)
tf_t	operator*(const TransferFunction & a, const TransferFunction & b)
tf_t	operator/(const TransferFunction & a, const TransferFunction & b)
std::ostream &	operator<<(std::ostream & stream, const TransferFunction & tf)

Detailed Description

class cpp_robotics::Differentiator;

疑似微分器

G(s) = omega*s / (s + omega) 双一次変換で離散化したもの

Public Functions Documentation

function Differentiator

inline Differentiator(
    double omega,
    double dt
)

Construct a new Differentiator object.

Parameters:

• omega 折れ点周波数[rad/s]
• dt サンプリング周期

function reset

inline virtual void reset(
    double state =0
) override

Reimplements: cpp_robotics::TransferFunction::reset

function reset_test

inline void reset_test(
    double state =0,
    double input =0
)

function filtering

inline double filtering(
    double u
)

フィルタリングする

Parameters:

• u

Return: double

function omega

inline double omega() const

時定数の取得

Return: double

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Updated on 2024-05-28 at 06:55:39 +0000