lib/Integrator.hh

// 遨榊�蝎ｨ繧ｯ繝ｩ繧ｹ
// 2011/02/10 Yuki YOKOKURA
//
// 遨榊�蝎ｨ G(s)=1/s (蜿御ｸ�谺｡螟画鋤)
//
// Copyright (C) 2011 Yuki YOKOKURA
// This program is free software;
// you can redistribute it and/or modify it under the terms of the GNU General Public License
// as published by the Free Software Foundation; either version 3 of the License, or any later version.
// This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY;
// without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
// See the GNU General Public License for more details <http://www.gnu.org/licenses/>.
// Besides, you can negotiate about other options of licenses instead of GPL.
// If you would like to get other licenses, please contact us<yuki@katsura.sd.keio.ac.jp>.

#ifndef INTEGRATOR
#define INTEGRATOR

namespace ARCS {        // ARCS蜷榊燕遨ｺ髢�
        class Integrator {
                private:
                        double Ts;      // [s]  蛻ｶ蠕｡蜻ｨ譛�
                        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�
                        double yZ1;     //              迥ｶ諷句､画焚2
                        bool Ena;       //              遨榊�蝎ｨ菴懷虚謖�莉､ true縺ｮ縺ｨ縺咲ｩ榊�蝎ｨ菴懷虚�ｼ掲alse縺ｮ縺ｨ縺咲ｩ榊�蛛懈ｭ｢
                
                public:
                        Integrator(double SmplTime);            // 繧ｳ繝ｳ繧ｹ繝医Λ繧ｯ繧ｿ SmplTime�ｼ媼s] 蛻ｶ蠕｡蜻ｨ譛�
                        ~Integrator();                                          // 繝�繧ｹ繝医Λ繧ｯ繧ｿ
                        double GetSignal(double u);                     // 蜃ｺ蜉帑ｿ｡蜿ｷ縺ｮ蜿門ｾ� u�ｼ帛�･蜉帑ｿ｡蜿ｷ
                        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�
                        void SetInitial(double InitValue);      // 遨榊�蛻晄悄蛟､縺ｮ險ｭ螳� InitValue�ｼ帛�晄悄蛟､
                        void Enable(bool Flag);                         // 遨榊�蝎ｨ繧貞虚縺九☆縺区ｭ｢繧√ｋ縺具ｼ熊lag�ｼ孚rue縺ｮ縺ｨ縺咲ｩ榊�蝎ｨ菴懷虚�ｼ掲alse縺ｮ縺ｨ縺咲ｩ榊�蛛懈ｭ｢
                        void ClearStateVars(void);                      // 縺吶∋縺ｦ縺ｮ迥ｶ諷句､画焚縺ｮ繝ｪ繧ｻ繝�繝�
        };
}

#endif