Description
Function that returns Y from an externally-provided 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 calls to SetSetpoint(), for example calling SetSetpoint() at each timestep in the simulation loop. Also first two derivatives (speed, accel.) will persist until next SetSetpoint() call. Function of this class are most often functions of time.
#include <ChFunctionSetpoint.h>
Public Member Functions | |
| 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 | Update (double x) override |
| Update could be implemented by children classes, ex. to launch callbacks. | |
| 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. More... | |
| 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]. More... | |
| 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]. More... | |
| 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]. More... | |
| 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]. More... | |
| 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]. More... | |
| virtual double | GetPositiveAccelerationCoeff () const |
| Compute the positive acceleration coefficient. More... | |
| virtual double | GetNegativeAccelerationCoeff () const |
| Compute the negative acceleration coefficient. More... | |
| virtual double | GetVelocityCoefficient () const |
| Compute the velocity coefficient. More... | |
| 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. | |
Member Function Documentation
◆ GetDer()
|
inlineoverridevirtual |
Return the first derivative of the function.
Default implementation computes a numerical differentiation. Inherited classes may override this method with a more efficient implementation (e.g. analytical solution).
Reimplemented from chrono::ChFunction.
◆ GetDer2()
|
inlineoverridevirtual |
Return the second derivative of the function.
Default implementation computes a numerical differentiation. Inherited classes may override this method with a more efficient implementation (e.g. analytical solution).
Reimplemented from chrono::ChFunction.
◆ GetVal()
|
inlineoverridevirtual |
Return the function output for input x.
Must be overridden by specialized classes.
Implements chrono::ChFunction.
◆ SetSetpoint()
|
virtual |
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.
◆ SetSetpointAndDerivatives()
|
inlinevirtual |
Set the setpoint, and also its derivatives.
All values will persist indefinitely until next call.
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
