dynamicgraph::sot::IntegratorAbstract< sigT, coefT > Class Template Reference

integrates an ODE. If Y is the output and X the input, the following equation is integrated: a_p * d(p)Y / dt^p + .... + a_0 Y = b_m * d(m)X / dt^m + ... . b_0 X a_i are the coefficients of the denominator of the associated transfer function between X and Y, while the b_i are those of the numerator. More...

#include <sot/core/integrator-abstract.hh>

Inheritance diagram for dynamicgraph::sot::IntegratorAbstract< sigT, coefT >:

List of all members.

Public Member Functions
virtual const std::string &	getClassName () const
	IntegratorAbstract (const std::string &name)
virtual	~IntegratorAbstract ()
virtual sigT &	integrate (sigT &res, int time)=0
virtual void	commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os)
void	pushNumCoef (const coefT &numCoef)
void	pushDenomCoef (const coefT &denomCoef)
void	popNumCoef ()
void	popDenomCoef ()
Static Public Member Functions
static std::string	getTypeName (void)
Public Attributes
dg::SignalPtr< sigT, int >	SIN
dg::SignalTimeDependent< sigT, int >	SOUT
Static Public Attributes
static const std::string	CLASS_NAME
Protected Attributes
std::vector< coefT >	numerator
std::vector< coefT >	denominator

---

Detailed Description

template<class sigT, class coefT>
class dynamicgraph::sot::IntegratorAbstract< sigT, coefT >

integrates an ODE. If Y is the output and X the input, the following equation is integrated: a_p * d(p)Y / dt^p + .... + a_0 Y = b_m * d(m)X / dt^m + ... . b_0 X a_i are the coefficients of the denominator of the associated transfer function between X and Y, while the b_i are those of the numerator.

---

Constructor & Destructor Documentation

template<class sigT , class coefT >

dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::IntegratorAbstract

(

const std::string &

name

)

[inline]

References dynamicgraph::Entity::signalRegistration(), dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::SIN, and dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::SOUT.

template<class sigT , class coefT >

virtual dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::~IntegratorAbstract

(

)

[inline, virtual]

---

Member Function Documentation

template<class sigT , class coefT >

virtual void dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::commandLine	(	const std::string &	cmdLine,
		std::istringstream &	cmdArgs,
		std::ostream &	os
	)		[inline, virtual]

Reimplemented from dynamicgraph::Entity.

References dynamicgraph::Signal< T, Time >::accessCopy(), dynamicgraph::PoolStorage::getEntity(), dynamicgraph::PoolStorage::getInstance(), dynamicgraph::Entity::getSignal(), dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::popDenomCoef(), dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::popNumCoef(), dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::pushDenomCoef(), and dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::pushNumCoef().

template<class sigT , class coefT >

virtual const std::string& dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::getClassName

(

void

)

const [inline, virtual]

Implements dynamicgraph::Entity.

Reimplemented in dynamicgraph::sot::IntegratorEuler< sigT, coefT >.

template<class sigT , class coefT >

static std::string dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::getTypeName

(

void

)

[inline, static]

Reimplemented in dynamicgraph::sot::IntegratorEuler< sigT, coefT >.

template<class sigT , class coefT >

virtual sigT& dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::integrate	(	sigT &	res,
		int	time
	)		[pure virtual]

Implemented in dynamicgraph::sot::IntegratorEuler< sigT, coefT >.

template<class sigT , class coefT >

void dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::popDenomCoef

(

)

[inline]

References dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::denominator.

Referenced by dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::commandLine().

template<class sigT , class coefT >

void dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::popNumCoef

(

)

[inline]

References dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::numerator.

Referenced by dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::commandLine().

template<class sigT , class coefT >

void dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::pushDenomCoef

(

const coefT &

denomCoef

)

[inline]

References dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::denominator.

Referenced by dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::commandLine().

template<class sigT , class coefT >

void dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::pushNumCoef

(

const coefT &

numCoef

)

[inline]

References dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::numerator.

Referenced by dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::commandLine().

---

Member Data Documentation

template<class sigT , class coefT >

const std::string dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::CLASS_NAME [static]

Reimplemented in dynamicgraph::sot::IntegratorEuler< sigT, coefT >.

template<class sigT , class coefT >

std::vector<coefT> dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::denominator [protected]

Referenced by dynamicgraph::sot::IntegratorEuler< sigT, coefT >::integrate(), dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::popDenomCoef(), and dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::pushDenomCoef().

template<class sigT , class coefT >

std::vector<coefT> dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::numerator [protected]

Referenced by dynamicgraph::sot::IntegratorEuler< sigT, coefT >::integrate(), dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::popNumCoef(), and dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::pushNumCoef().

template<class sigT , class coefT >

dg::SignalPtr<sigT, int> dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::SIN

Referenced by dynamicgraph::sot::IntegratorEuler< sigT, coefT >::integrate(), dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::IntegratorAbstract(), and dynamicgraph::sot::IntegratorEuler< sigT, coefT >::IntegratorEuler().

template<class sigT , class coefT >

dg::SignalTimeDependent<sigT, int> dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::SOUT

Referenced by dynamicgraph::sot::IntegratorAbstract< sigT, coefT >::IntegratorAbstract(), and dynamicgraph::sot::IntegratorEuler< sigT, coefT >::IntegratorEuler().