lib/Differentiator2.hh
00001 // 2谺｡謫ｬ莨ｼ蠕ｮ蛻�蝎ｨ繧ｯ繝ｩ繧ｹ 00002 // 2011/02/14 Yuki YOKOKURA 00003 // 00004 // 2谺｡謫ｬ莨ｼ蠕ｮ蛻�蝎ｨ G(s)=s^2*w^2/(s^2 + w/Q*s + w^2) (蜿御ｸ�谺｡螟画鋤) 00005 // 00006 // Copyright (C) 2011 Yuki YOKOKURA 00007 // This program is free software; 00008 // you can redistribute it and/or modify it under the terms of the GNU General Public License 00009 // as published by the Free Software Foundation; either version 3 of the License, or any later version. 00010 // This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; 00011 // without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. 00012 // See the GNU General Public License for more details <http://www.gnu.org/licenses/>. 00013 // Besides, you can negotiate about other options of licenses instead of GPL. 00014 // If you would like to get other licenses, please contact us<yuki@katsura.sd.keio.ac.jp>. 00015 00016 #ifndef DIFFERENTIATOR2 00017 #define DIFFERENTIATOR2 00018 00019 namespace ARCS { // ARCS蜷榊燕遨ｺ髢� 00020 class Differentiator2 { 00021 private: 00022 double Ts; // [s] 蛻ｶ蠕｡蜻ｨ譛� 00023 double w; // [rad/s] 謫ｬ莨ｼ蠕ｮ蛻�縺ｮ蟶ｯ蝓� 00024 double Q; // 驪ｭ縺� 00025 double uZ1; // 迥ｶ諷句､画焚1 螟画焚蜷校1縺ｮ諢丞袖縺ｯz螟画鋤縺ｮz^(-1)繧堤､ｺ縺� 00026 double uZ2; // 迥ｶ諷句､画焚2 00027 double uZ3; // 迥ｶ諷句､画焚3 00028 double yZ1; // 迥ｶ諷句､画焚4 00029 double yZ2; // 迥ｶ諷句､画焚5 00030 double yZ3; // 迥ｶ諷句､画焚6 00031 00032 public: 00033 Differentiator2(double Bandwidth, double Sharp, double SmplTime); 00034 // 繧ｳ繝ｳ繧ｹ繝医Λ繧ｯ繧ｿ Bandwidth�ｼ媼rad/s] 蟶ｯ蝓滂ｼ郡harp�ｼ幃強縺包ｼ郡mplTime�ｼ媼s] 蛻ｶ蠕｡蜻ｨ譛� 00035 ~Differentiator2(); // 繝�繧ｹ繝医Λ繧ｯ繧ｿ 00036 double GetSignal(double u); // 蜃ｺ蜉帑ｿ｡蜿ｷ縺ｮ蜿門ｾ� u�ｼ帛�･蜉帑ｿ｡蜿ｷ 00037 void SetBandwidth(double Bandwidth);// 謫ｬ莨ｼ蠕ｮ蛻�縺ｮ蟶ｯ蝓溘�ｮ蜀崎ｨｭ螳� Bandwidth�ｼ媼rad/s] 蟶ｯ蝓� 00038 void SetSharpness(double Sharp); // 驪ｭ縺輔�ｮ蜀崎ｨｭ螳� Sharp�ｼ幃強縺� 00039 void SetSmplTime(double SmplTime); // 蛻ｶ蠕｡蜻ｨ譛溘�ｮ蜀崎ｨｭ螳� SmplTime�ｼ媼s] 蛻ｶ蠕｡蜻ｨ譛� 00040 void ClearStateVars(void); // 縺吶∋縺ｦ縺ｮ迥ｶ諷句､画焚縺ｮ繝ｪ繧ｻ繝�繝� 00041 }; 00042 } 00043 00044 #endif 00045 00046 00047
