Description
Function that returns Y from an externally-provided value, as a ZOH (zero order hold) block.
This means that the Y value does NOT change if you call Get_y(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 <ChFunction_Setpoint.h>
Public Member Functions | |
| ChFunction_Setpoint (const ChFunction_Setpoint &other) | |
| virtual ChFunction_Setpoint * | Clone () const override |
| "Virtual" copy constructor (covariant return type). | |
| virtual double | Get_y (double x) const override |
| Return the y value of the function, at position x. | |
| virtual double | Get_y_dx (double x) const override |
| Return the dy/dx derivative of the function, at position x. More... | |
| virtual double | Get_y_dxdx (double x) const override |
| Return the ddy/dxdx double derivative of the function, at position x. 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 &marchive) override |
| Method to allow serialization of transient data to archives. | |
| virtual void | ArchiveIn (ChArchiveIn &marchive) override |
| Method to allow de-serialization of transient data from archives. | |
 Public Member Functions inherited from chrono::ChFunction | |
| ChFunction (const ChFunction &other) | |
| virtual FunctionType | Get_Type () const |
| Return the unique function type identifier. | |
| virtual double | Get_y_dxdxdx (double x) const |
| Return the dddy/dxdxdx triple derivative of the function, at position x. More... | |
| virtual double | Get_weight (double x) const |
| Return the weight of the function (useful for applications where you need to mix different weighted ChFunctions) | |
| virtual void | Estimate_x_range (double &xmin, double &xmax) const |
| Return an estimate of the range of the function argument. More... | |
| virtual void | Estimate_y_range (double xmin, double xmax, double &ymin, double &ymax, int derivate) const |
| Return an estimate of the range of the function value. More... | |
| virtual double | Get_y_dN (double x, int derivate) const |
| Return the function derivative of specified order at the given point. More... | |
| virtual double | Compute_max (double xmin, double xmax, double sampling_step, int derivate) const |
| Compute the maximum of y(x) in a range xmin-xmax, using a sampling method. | |
| virtual double | Compute_min (double xmin, double xmax, double sampling_step, int derivate) const |
| Compute the minimum of y(x) in a range xmin-xmax, using a sampling method. | |
| virtual double | Compute_mean (double xmin, double xmax, double sampling_step, int derivate) const |
| Compute the mean value of y(x) in a range xmin-xmax, using a sampling method. | |
| virtual double | Compute_sqrmean (double xmin, double xmax, double sampling_step, int derivate) const |
| Compute the square mean val. of y(x) in a range xmin-xmax, using sampling. | |
| virtual double | Compute_int (double xmin, double xmax, double sampling_step, int derivate) const |
| Compute the integral of y(x) in a range xmin-xmax, using a sampling method. | |
| virtual double | Get_Ca_pos () const |
| Computes the positive acceleration coefficient (inherited classes should customize this). | |
| virtual double | Get_Ca_neg () const |
| Compute the positive acceleration coefficient (inherited classes should customize this). | |
| virtual double | Get_Cv () const |
| Compute the speed coefficient (inherited classes must customize this). | |
| virtual int | HandleNumber () const |
| Return the number of handles of the function. | |
| virtual bool | HandleAccess (int handle_id, double mx, double my, bool set_mode) |
| Get the x and y position of handle, given identifier. More... | |
| virtual int | FilePostscriptPlot (ChFile_ps *m_file, int plotY, int plotDY, int plotDDY) |
| Plot function in graph space of the ChFile_ps postscript file where zoom factor, centering, color, thickness etc. More... | |
| virtual int | FileAsciiPairsSave (ChStreamOutAscii &m_file, double xmin=0, double xmax=1, int msamples=200) |
| Save function as X-Y pairs separated by space, with CR at each pair, into an ASCII file. More... | |
| virtual void | EvaluateIntervaldN (ChMatrixDynamic<> &data, double xmin, double xmax, double step, int der=0) |
| Sample function on entire interval, up to Nth derivative (der = 0: y, 1: y_dx, 2: y_dxdx, 3: y_dxdxdx). More... | |
Additional Inherited Members | |
| Public Types inherited from chrono::ChFunction | |
| enum | FunctionType { FUNCT_CUSTOM, FUNCT_CONST, FUNCT_CONSTACC, FUNCT_DERIVE, FUNCT_FILLET3, FUNCT_INTEGRATE, FUNCT_MATLAB, FUNCT_MIRROR, FUNCT_MOCAP, FUNCT_NOISE, FUNCT_OPERATION, FUNCT_OSCILLOSCOPE, FUNCT_POLY, FUNCT_POLY345, FUNCT_RAMP, FUNCT_RECORDER, FUNCT_REPEAT, FUNCT_SEQUENCE, FUNCT_SIGMA, FUNCT_SINE, FUNCT_LAMBDA, FUNCT_CYCLOIDAL, FUNCT_BSPLINE, FUNCT_DOUBLES } |
| Enumeration of function types. | |
Member Function Documentation
◆ Get_y_dx()
|
inlineoverridevirtual |
Return the dy/dx derivative of the function, at position x.
Note that inherited classes may also avoid overriding this method, because this base method already provide a general-purpose numerical differentiation to get dy/dx only from the Get_y() function. (however, if the analytical derivative is known, it may better to implement a custom method).
Reimplemented from chrono::ChFunction.
◆ Get_y_dxdx()
|
inlineoverridevirtual |
Return the ddy/dxdx double derivative of the function, at position x.
Note that inherited classes may also avoid overriding this method, because this base method already provide a general-purpose numerical differentiation to get ddy/dxdx only from the Get_y() function. (however, if the analytical derivative is known, it may be better to implement a custom method).
Reimplemented from 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/motion_functions/ChFunction_Setpoint.h
- /builds/uwsbel/chrono/src/chrono/motion_functions/ChFunction_Setpoint.cpp
