chrono::ChFunction_SetpointCallback Class Referenceabstract
Description
Interface for functions that uses a callback to return a Y value, as a ZOH (zero order hold) block.
This means that the Y value does NOT change if you call Get_y(double x) with different values of x, unless you keep the setpoint Y updated via multiple callback calls. Also first two derivatives (speed, accel.) will persist until next SetSetpoint() call. To use this: you must inherit from this class and you must implement the SetpointCallback() function.
#include <ChFunction_Setpoint.h>
Inheritance diagram for chrono::ChFunction_SetpointCallback:
Collaboration diagram for chrono::ChFunction_SetpointCallback:
Public Member Functions | |
| ChFunction_SetpointCallback (const ChFunction_SetpointCallback &other) | |
| virtual double | SetpointCallback (const double x)=0 |
| You MUST implement this in inherited classes, by returning Y as a function of x. More... | |
| virtual void | Update (const double x) override |
| Calling this will invoke the callback. | |
 Public Member Functions inherited from chrono::ChFunction_Setpoint | |
| ChFunction_Setpoint (const ChFunction_Setpoint &other) | |
| virtual ChFunction_Setpoint * | Clone () const override |
| "Virtual" copy constructor (covariant return type). | |
| virtual double | Get_y (double x) const override |
| Return the y value of the function, at position x. | |
| virtual double | Get_y_dx (double x) const override |
| Return the dy/dx derivative of the function, at position x. More... | |
| virtual double | Get_y_dxdx (double x) const override |
| Return the ddy/dxdx double derivative of the function, at position x. More... | |
| virtual void | SetSetpoint (double setpoint, double x) |
| Set the setpoint, and compute its derivatives (speed, acceleration) automatically by backward differentiation (only if x is called at increasing small steps). More... | |
| virtual void | SetSetpointAndDerivatives (double setpoint, double setpoint_dx, double setpoint_dxdx) |
| Set the setpoint, and also its derivatives. More... | |
| double | GetSetpoint () |
| Get the last set setpoint. | |
| virtual void | ArchiveOUT (ChArchiveOut &marchive) override |
| Method to allow serialization of transient data to archives. | |
| virtual void | ArchiveIN (ChArchiveIn &marchive) override |
| Method to allow de-serialization of transient data from archives. | |
| Public Member Functions inherited from chrono::ChFunction | |
| ChFunction (const ChFunction &other) | |
| virtual FunctionType | Get_Type () const |
| Return the unique function type identifier. | |
| virtual double | Get_weight (double x) const |
| Return the weight of the function (useful for applications where you need to mix different weighted ChFunctions) | |
| virtual void | Estimate_x_range (double &xmin, double &xmax) const |
| Return an estimate of the range of the function argument. More... | |
| virtual void | Estimate_y_range (double xmin, double xmax, double &ymin, double &ymax, int derivate) const |
| Return an estimate of the range of the function value. More... | |
| virtual double | Get_y_dN (double x, int derivate) const |
| Return the function derivative of specified order at the given point. More... | |
| virtual double | Compute_max (double xmin, double xmax, double sampling_step, int derivate) const |
| Compute the maximum of y(x) in a range xmin-xmax, using a sampling method. | |
| virtual double | Compute_min (double xmin, double xmax, double sampling_step, int derivate) const |
| Compute the minimum of y(x) in a range xmin-xmax, using a sampling method. | |
| virtual double | Compute_mean (double xmin, double xmax, double sampling_step, int derivate) const |
| Compute the mean value of y(x) in a range xmin-xmax, using a sampling method. | |
| virtual double | Compute_sqrmean (double xmin, double xmax, double sampling_step, int derivate) const |
| Compute the square mean val. of y(x) in a range xmin-xmax, using sampling. | |
| virtual double | Compute_int (double xmin, double xmax, double sampling_step, int derivate) const |
| Compute the integral of y(x) in a range xmin-xmax, using a sampling method. | |
| virtual double | Get_Ca_pos () const |
| Computes the positive acceleration coefficient (inherited classes should customize this). | |
| virtual double | Get_Ca_neg () const |
| Compute the positive acceleration coefficient (inherited classes should customize this). | |
| virtual double | Get_Cv () const |
| Compute the speed coefficient (inherited classes must customize this). | |
| virtual int | HandleNumber () const |
| Return the number of handles of the function. | |
| virtual bool | HandleAccess (int handle_id, double mx, double my, bool set_mode) |
| Get the x and y position of handle, given identifier. More... | |
| virtual int | FilePostscriptPlot (ChFile_ps *m_file, int plotY, int plotDY, int plotDDY) |
| Plot function in graph space of the ChFile_ps postscript file where zoom factor, centering, color, thickness etc. More... | |
| virtual int | FileAsciiPairsSave (ChStreamOutAscii &m_file, double xmin=0, double xmax=1, int msamples=200) |
| Save function as X-Y pairs separated by space, with CR at each pair, into an ASCII file. More... | |
Additional Inherited Members | |
| Public Types inherited from chrono::ChFunction | |
| enum | FunctionType { FUNCT_CUSTOM, FUNCT_CONST, FUNCT_CONSTACC, FUNCT_DERIVE, FUNCT_FILLET3, FUNCT_INTEGRATE, FUNCT_MATLAB, FUNCT_MIRROR, FUNCT_MOCAP, FUNCT_NOISE, FUNCT_OPERATION, FUNCT_OSCILLOSCOPE, FUNCT_POLY, FUNCT_POLY345, FUNCT_RAMP, FUNCT_RECORDER, FUNCT_REPEAT, FUNCT_SEQUENCE, FUNCT_SIGMA, FUNCT_SINE, FUNCT_LAMBDA } |
| Enumeration of function types. | |
Member Function Documentation
◆ SetpointCallback()
|
pure virtual |
You MUST implement this in inherited classes, by returning Y as a function of x.
Set the setpoint, and compute its derivatives (speed, acceleration) automatically by backward differentiation (only if x is called at increasing small steps). All values will persist indefinitely until next call.
The documentation for this class was generated from the following file:
- /builds/uwsbel/chrono/src/chrono/motion_functions/ChFunction_Setpoint.h
