46 lines
961 B
C++
46 lines
961 B
C++
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/*
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* FrictionCompensationProcess.hh
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*
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* Created on: 31 <EFBFBD><EFBFBD><EFBFBD> 2020 <EFBFBD>.
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* Author: LeonidTitov
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*/
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#ifndef UMLIBRARY_PROCESSING_ACS_FRICTIONCOMPENSATIONASYNC_HH_
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#define UMLIBRARY_PROCESSING_ACS_FRICTIONCOMPENSATIONASYNC_HH_
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#include "ControlSystemInterface.hh"
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#include "../../systemic/ISignal.hh"
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#include "../../common/ShadowGuard.hh"
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#include "../../control/regulator/FrictionModelDw3Vw1.hh"
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namespace processing { namespace acs {
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//!
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class FrictionCompensationAsync : public PhaseSpaceToPhaseSpaceUnitInterface {
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public:
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typedef ::control::regulator::FrictionModel_Dw3Vw1 Compensator;
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void set( TypeInput );
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TypeOutput get() const;
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void set_output( SetInterface * );
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void reset();
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FrictionCompensationAsync( Compensator & compensator );
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private:
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Compensator & compensator;
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SetInterface * output;
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TypeInput torque_feedforward;
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};
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}}
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#endif /* UMLIBRARY_PROCESSING_ACS_FRICTIONCOMPENSATIONASYNC_HH_ */
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