lib/Differentiator.hh
00001 // 謫ャ莨シ蠕ョ蛻�蝎ィ繧ッ繝ゥ繧ケ
00002 // 2011/02/10 Yuki YOKOKURA
00003 //
00004 // 謫ャ莨シ蠕ョ蛻�蝎ィ G(s)=(s*gpd)/(s+gpd) (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 DIFFERENTIATOR
00017 #define DIFFERENTIATOR
00018 
00019 namespace ARCS {        // ARCS蜷榊燕遨コ髢�
00020         class Differentiator {
00021                 private:
00022                         double Ts;      // [s]          蛻カ蠕。蜻ィ譛�
00023                         double gpd;     // [rad/s]      謫ャ莨シ蠕ョ蛻�縺ョ蟶ッ蝓�
00024                         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�
00025                         double yZ1;     //                      迥カ諷句、画焚2
00026                 
00027                 public:
00028                         Differentiator(double Bandwidth, double SmplTime);
00029                         // 繧ウ繝ウ繧ケ繝医Λ繧ッ繧ソ Bandwidth�シ媼rad/s] 蟶ッ蝓滂シ郡mplTime�シ媼s] 蛻カ蠕。蜻ィ譛�
00030                         ~Differentiator();                                      // 繝�繧ケ繝医Λ繧ッ繧ソ
00031                         double GetSignal(double u);                     // 蜃コ蜉帑ソ。蜿キ縺ョ蜿門セ� u�シ帛�・蜉帑ソ。蜿キ
00032                         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�
00033                         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�
00034                         void ClearStateVars(void);                      // 縺吶∋縺ヲ縺ョ迥カ諷句、画焚縺ョ繝ェ繧サ繝�繝�
00035         };
00036 }
00037 
00038 #endif
00039 
00040 
00041 
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