52 lines
1.3 KiB
C++
52 lines
1.3 KiB
C++
/*
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* ForceControllerAutotuningFeatureEstimate.hh
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*
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* Created on: 4 мая 2022 г.
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* Author: titov
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*/
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#ifndef UMLIBRARY_PROCESSING_FORCECONTROLLERAUTOTUNINGFEATUREESTIMATE_HH_
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#define UMLIBRARY_PROCESSING_FORCECONTROLLERAUTOTUNINGFEATUREESTIMATE_HH_
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#include "../systemic/ISignal.hh"
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#include "../systemic/IProcess.hh"
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#include "../control/regulator/ForceController.hh"
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namespace processing {
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//!Модуль оценки критериев автонастройки алгоритма набора и поддержания усилия.
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class ForceControllerAutotuningFeatureEstimate : public systemic::IProcess {
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systemic::ISignal & force;
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systemic::ISignal & dforce;
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const control::regulator::ForceController & fc;
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float aggregated_dynamic_error;
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float dynamic_error;
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float _Ts;
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public:
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ForceControllerAutotuningFeatureEstimate( systemic::ISignal & force, systemic::ISignal & dforce,
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const control::regulator::ForceController & fc );
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const float & getDynamicError() const;
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const float & getAggregatedDynamicError() const;
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const float & getEndMismatch() const;
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void reset();
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void process();
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void setSampleTime( float ts_in_second );
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};
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}
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#endif /* UMLIBRARY_PROCESSING_FORCECONTROLLERAUTOTUNINGFEATUREESTIMATE_HH_ */
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