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linear_transfer_system.h
1 /* Copyright (C) 2006 Mathias Bachmayer
2 
3  * This library is free software; you can redistribute it and/or
4  * modify it under the terms of the GNU Lesser General Public
5  * License as published by the Free Software Foundation; either
6  * version 2.1 of the License, or (at your option) any later version.
7  *
8  * This library is distributed in the hope that it will be useful,
9  * but WITHOUT ANY WARRANTY; without even the implied warranty of
10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11  * Lesser General Public License for more details.
12  *
13  * You should have received a copy of the GNU Lesser General Public
14  * License along with this library; if not, write to the Free Software
15  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
16 
17  *
18  *
19  * Contact:
20  * mbachmayer@gmx.de
21  *
22  */
23 
24 #ifndef _LINEAR_TRANSFER_SYSTEM_
25 #define _LINEAR_TRANSFER_SYSTEM_
26 
27 #include "mbsimControl/signal_processing_system.h"
28 
29 namespace MBSimControl {
30 
36 
37  public:
38  LinearTransferSystem(const std::string& name="");
39  virtual std::string getType() const {return "LinearTransferSystem"; }
40  void initializeUsingXML(xercesc::DOMElement * element);
41 
42  void calcxSize() {xSize=A.rows(); }
43 
44  void init(InitStage stage);
45 
46  void updatedx(double t, double dt);
47  void updatexd(double t);
48 
49  void plot(double t,double dt);
50 
51  void setPID(double P_, double I_, double D_);
52  void setABCD(fmatvec::Mat A_,fmatvec::Mat B_,fmatvec::Mat C_,fmatvec::Mat D_);
53  void setBandwidth(double Hz_fg);
54  void setIntegrator(double OutputGain);
55  void setI2(double OutputGain);
56  void setPT1(double P, double T);
57  void setGain(double P);
58  void showABCD();
59 
60  protected:
61  fmatvec::Mat A,B,C,D;
62  double R1,R2,c;
63  fmatvec::VecV calculateOutput();
64  fmatvec::VecV (LinearTransferSystem::*calculateOutputMethod)();
65  fmatvec::VecV outputMethodC();
66  fmatvec::VecV outputMethodD();
67  fmatvec::VecV outputMethodCD();
68  };
69 }
70 
71 #endif
SignalProcessingSystem.
Definition: signal_processing_system.h:37
int rows() const
LinearTransferSystem.
Definition: linear_transfer_system.h:35

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