chrono::ChFunctionSetpointCallback Class Referenceabstract
Description
Interface for functions that uses a callback to return a Y value, as a ZERO_ORDER_HOLD (zero order hold) block.
This means that the Y value does NOT change if you call GetVal(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. Derived classes must implement the SetpointCallback() function.
#include <ChFunctionSetpoint.h>
Inheritance diagram for chrono::ChFunctionSetpointCallback:
Collaboration diagram for chrono::ChFunctionSetpointCallback:
Public Member Functions | |
| ChFunctionSetpointCallback (const ChFunctionSetpointCallback &other) | |
| virtual double | SetpointCallback (double x)=0 |
| Set the setpoint, and compute its derivatives (speed, acceleration). | |
| virtual void | Update (double x) override |
| Update the function by invoking the callback function SetpointCallback. | |
 Public Member Functions inherited from chrono::ChFunctionSetpoint | |
| ChFunctionSetpoint (const ChFunctionSetpoint &other) | |
| virtual ChFunctionSetpoint * | Clone () const override |
| "Virtual" copy constructor (covariant return type). | |
| virtual double | GetVal (double x) const override |
| Return the function output for input x. More... | |
| virtual double | GetDer (double x) const override |
| Return the first derivative of the function. More... | |
| virtual double | GetDer2 (double x) const override |
| Return the second derivative of the function. 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 &archive_out) override |
| Method to allow serialization of transient data to archives. | |
| virtual void | ArchiveIn (ChArchiveIn &archive_in) override |
| Method to allow de-serialization of transient data from archives. | |
| Public Member Functions inherited from chrono::ChFunction | |
| ChFunction (const ChFunction &other) | |
| virtual Type | GetType () const |
| Return the unique function type identifier. | |
| virtual double | GetDer3 (double x) const |
| Return the third derivative of the function. More... | |
| virtual double | GetDerN (double x, int der_order) const |
| Return the Nth derivative of the function (up to 3rd derivative). More... | |
| virtual double | GetWeight (double x) const |
| Return the weight of the function (useful for applications where you need to mix different weighted ChFunctions) | |
| virtual double | GetMax (double xmin, double xmax, double sampling_step, int der_order) const |
| Estimate the maximum of the function (or its der_order derivative) in the range [xmin, xmax], using sampling method. | |
| virtual double | GetMin (double xmin, double xmax, double sampling_step, int der_order) const |
| Estimate the minimum of the function (or its der_order derivative) in the range [xmin, xmax], using sampling method. | |
| virtual double | GetMean (double xmin, double xmax, double sampling_step, int der_order) const |
| Estimate the mean of the function (or its der_order derivative) in the range [xmin, xmax], using sampling method. | |
| virtual double | GetSquaredMean (double xmin, double xmax, double sampling_step, int der_order) const |
| Estimate the squared mean of the function (or its der_order derivative) in the range [xmin, xmax], using sampling method. | |
| virtual double | GetIntegral (double xmin, double xmax, double sampling_step, int der_order) const |
| Estimate the integral of the function (or its der_order derivative) over the range [xmin, xmax], using sampling method. | |
| virtual double | GetPositiveAccelerationCoeff () const |
| Computes the positive acceleration coefficient (inherited classes should override this). | |
| virtual double | GetNegativeAccelerationCoeff () const |
| Compute the negative acceleration coefficient (inherited classes should override this). | |
| virtual double | GetVelocityCoefficient () const |
| Compute the velocity coefficient (inherited classes must override this). | |
| virtual void | OutputToASCIIFile (std::ostream &file, double xmin, double xmax, int samples, char delimiter) |
| Store X-Y pairs to an ASCII File. More... | |
| virtual ChMatrixDynamic | SampleUpToDerN (double xmin, double xmax, double step, int derN=0) |
| Sample function on given interval [xmin, xmax], up to derN derivative (0 being the function ouput itself). More... | |
| double | operator() (double arg) const |
| Alias operator of the GetVal function. | |
Additional Inherited Members | |
| Public Types inherited from chrono::ChFunction | |
| enum | Type { BSPLINE, CONSTANT, CONSTACC, CONSTJERK, CUSTOM, CYCLOIDAL, DERIVATIVE, FILLET3, INTEGRAL, INTERP, LAMBDA, MIRROR, OPERATOR, POLY, POLY23, POLY345, RAMP, REPEAT, SEQUENCE, SINE, SINE_STEP } |
| Enumeration of function types. | |
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono/functions/ChFunctionSetpoint.h
- /builds/uwsbel/chrono/src/chrono/functions/ChFunctionSetpoint.cpp
