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/*
* Copyright (C) 2010 Learning Algorithms and Systems Laboratory, EPFL, Switzerland
* Author: Eric Sauser
* email: eric.sauser@a3.epf.ch
* website: lasa.epfl.ch
*
* Permission is granted to copy, distribute, and/or modify this program
* under the terms of the GNU General Public License, version 2 or any
* later version published by the Free Software Foundation.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
* Public License for more details
*/
#ifndef Differentiator_H_
#define Differentiator_H_
#include <vector>
using namespace std;
#include "MathLibCommon.h"
#include "Matrix.h"
#ifdef USE_MATHLIB_NAMESPACE
namespace MathLib {
#endif
class Differentiator
{
protected:
int mOrder;
int mVariablesCount;
vector<Vector> mVariables;
Vector mDts;
Vector mInvDts;
REALTYPE mPastDt[2];
int mStepCount;
public:
bool mStepBack;
public:
Differentiator();
virtual ~Differentiator();
virtual void Init(int nbVariables, int order);
virtual void Free();
void Reset();
virtual bool IsValid();
int GetOrder();
int GetVariablesCount();
void SetInput(int index, const REALTYPE input);
void SetInput(const Vector& vector);
virtual void Update(REALTYPE dt);
REALTYPE GetOutput(int index, int order);
Vector GetOutput(int order);
Vector& GetOutput(int order, Vector& result);
protected:
virtual void Resize(int nbVariables);
};
class DigitalFilter;
class EulerDifferentiator : public Differentiator
{
protected:
vector<Vector> mPastBuffer;
Vector mWorkingBuffer;
DigitalFilter** mFilters;
public:
EulerDifferentiator();
virtual ~EulerDifferentiator();
virtual void Init(int order, int nbVariables);
virtual void Free();
virtual bool IsValid();
virtual void Update(REALTYPE dt);
void SetFilter(const DigitalFilter& filter);
protected:
virtual void Resize(int nbVariables);
};
typedef EulerDifferentiator EDifferentiator;
class Integrator
{
protected:
int mOrder;
int mVariablesCount;
vector<Vector*> mVariables;
vector<Vector*> mPastBuffer;
Vector mWorkingBuffer;
Vector mDts;
int mStepCount;
public:
Integrator();
virtual ~Integrator();
virtual void Init(int nbVariables, int order);
virtual void Free();
void Reset();
virtual bool IsValid();
int GetOrder();
int GetVariablesCount();
void SetInput(int index, int order, const REALTYPE input);
void SetInput(int order, const Vector& vector);
virtual void Update(REALTYPE dt);
REALTYPE GetOutput(int index, int order);
Vector GetOutput(int order);
Vector& GetOutput(int order, Vector& result);
protected:
virtual void Resize(int nbVariables);
};
class IntegratorMixer : public Integrator
{
protected:
REALTYPE mMixerTimeConstant;
vector<Vector*> mExtBuffer;
public:
IntegratorMixer();
~IntegratorMixer();
virtual void Init(int nbVariables, int order);
virtual void Free();
virtual void Update(REALTYPE dt);
void SetTimeConstant(REALTYPE tc);
void SetMixingInput(int order, const Vector& vector);
protected:
virtual void Resize(int nbVariables);
};
class ViteDynamicalSystem : public Integrator
{
public:
Vector mA;
Vector mB;
Vector mTarget;
Vector mStart;
public:
ViteDynamicalSystem();
virtual ~ViteDynamicalSystem();
virtual void Init(int nbVariables, int order);
virtual void Free();
virtual void Update(REALTYPE dt);
void SetTarget(const Vector& vector);
void SetStart(const Vector& vector);
void SetFactors(const Vector& a,const Vector& b);
protected:
virtual void Resize(int nbVariables);
};
class DigitalFilter
{
protected:
int mOrder;
int mVariablesCount;
Vector mFwdCoefs;
Vector mBkwCoefs;
Matrix mFwdBuffer;
Matrix mBkwBuffer;
Vector mWorkingVector;
Vector mResult;
/*
REALTYPE *mFwdCoefs;
REALTYPE *mBkwCoefs;
REALTYPE *mFwdBuffer;
REALTYPE *mBkwBuffer;
*/
int mIndex;
//int mOutputIndex;
REALTYPE mDt;
public:
DigitalFilter();
virtual ~DigitalFilter();
virtual void Init(int nbVariables, int order);
virtual void Free();
virtual bool IsValid();
virtual void Update();
DigitalFilter* Clone() const;
void SetInput(int index, const REALTYPE input);
REALTYPE GetOutput(int index);
void SetInput(const Vector& vector);
void SetZeroInput();
Vector& GetOutput();
Vector& GetOutput(Vector& result);
void SetSamplingPeriod(REALTYPE dt);
void SetButterworth(REALTYPE cutOffFreq);
void SetMovingAverage();
void SetGaussian();
void SetHalfGaussian();
void Print();
protected:
void Resize(int nbVariables);
};
#ifdef USE_MATHLIB_NAMESPACE
}
#endif
#endif
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