Libbarrett
1.2.4
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00001 /* 00002 Copyright 2009, 2010 Barrett Technology <support@barrett.com> 00003 00004 This file is part of libbarrett. 00005 00006 This version of libbarrett is free software: you can redistribute it 00007 and/or modify it under the terms of the GNU General Public License as 00008 published by the Free Software Foundation, either version 3 of the 00009 License, or (at your option) any later version. 00010 00011 This version of libbarrett is distributed in the hope that it will be 00012 useful, but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 GNU General Public License for more details. 00015 00016 You should have received a copy of the GNU General Public License along 00017 with this version of libbarrett. If not, see 00018 <http://www.gnu.org/licenses/>. 00019 00020 Further, non-binding information about licensing is available at: 00021 <http://wiki.barrett.com/libbarrett/wiki/LicenseNotes> 00022 */ 00023 00024 /* 00025 * first_order_filter-inl.h 00026 * 00027 * Created on: Nov 18, 2009 00028 * Author: dc 00029 */ 00030 00031 00032 #include <cassert> 00033 #include <barrett/systems/abstract/single_io.h> 00034 00035 00036 namespace barrett { 00037 namespace systems { 00038 00039 00040 template<typename T, typename MathTraits> 00041 FirstOrderFilter<T,MathTraits>::FirstOrderFilter(const std::string& sysName) : 00042 SingleIO<T, T>(sysName) 00043 { 00044 getSamplePeriodFromEM(); 00045 } 00046 00047 template<typename T, typename MathTraits> 00048 FirstOrderFilter<T,MathTraits>::FirstOrderFilter(const libconfig::Setting& setting, const std::string& sysName) : 00049 SingleIO<T, T>(sysName), math::FirstOrderFilter<T>(setting) 00050 { 00051 getSamplePeriodFromEM(); 00052 } 00053 00054 template<typename T, typename MathTraits> 00055 void FirstOrderFilter<T,MathTraits>::operate() 00056 { 00057 this->eval(this->input.getValue()); 00058 this->outputValue->setData(&this->y_0); 00059 } 00060 00061 00062 // TODO(dc): anyway to remove the code duplication with PIDController? 00063 template<typename T, typename MathTraits> 00064 void FirstOrderFilter<T,MathTraits>::getSamplePeriodFromEM() 00065 { 00066 if (this->hasExecutionManager()) { 00067 assert(this->getExecutionManager()->getPeriod() > 0.0); 00068 this->setSamplePeriod(this->getExecutionManager()->getPeriod()); 00069 } else { 00070 this->setSamplePeriod(0.0); 00071 } 00072 } 00073 00074 00075 } 00076 }