Visual Servoing Platform version 3.6.0
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vpAdaptiveGain.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See https://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Adaptive gain.
33 *
34 * Authors:
35 * Nicolas Mansard
36 *
37*****************************************************************************/
43#ifndef _vpAdaptiveGain_h_
44#define _vpAdaptiveGain_h_
45
46#include <iostream>
47#include <visp3/core/vpConfig.h>
48
49class vpColVector;
121class VISP_EXPORT vpAdaptiveGain
122{
123public:
124 static const double DEFAULT_LAMBDA_ZERO;
125 static const double DEFAULT_LAMBDA_INFINITY;
126 static const double DEFAULT_LAMBDA_SLOPE;
127
128private:
129 // Coefficient such as lambda (x) = a * exp (-b*x) + c
130 double coeff_a; // \f$ a = \lambda(0) - \lambda(\infty) \f$
131 double coeff_b; // \f$ b = {\dot \lambda}(0) / a \f$
132 double coeff_c; // \f$ c = \lambda(\infty) \f$
133
134 // Last computed value
135 mutable double lambda;
136
137public:
138 /* --- CONSTRUCTOR --------------------------------------------------------
139 */
140
142 explicit vpAdaptiveGain(double c);
143 vpAdaptiveGain(double gain_at_zero, double gain_at_infinity, double slope_at_zero);
144
145 /* --- INIT ---------------------------------------------------------------
146 */
147 void initFromConstant(double c);
148 void initFromVoid(void);
149 void initStandard(double gain_at_zero, double gain_at_infinity, double slope_at_zero);
150
151 /* --- MODIFIORS ----------------------------------------------------------
152 */
153 double setConstant(void);
154
155 /* --- COMPUTE ------------------------------------------------------------
156 */
157 /* \brief Calcule la valeur de lambda au point courrant.
158 *
159 * Determine la valeur du lambda adaptatif en fonction de la valeur
160 * de la norme de la fonction de tache e par extrapolation exponentielle.
161 * La fonction est : (en_infini - en_zero) * exp (-pente * ||e|| ) +
162 * en_infini. On a bien :
163 * - lambda(10^5) = en_infini ;
164 * - lambda(0) = en_zero ;
165 * - lambda(x ~ 0) ~ - pente * x + en_zero.
166 * \param val_e: valeur de la norme de l'erreur.
167 * \return: valeur de gain au point courrant.
168 */
169 double value_const(double x) const;
170
171 /* \brief Calcule la valeur de lambda au point courrant et stockage du
172 * resultat.
173 *
174 * La fonction calcule la valeur de lambda d'apres la valeur de la norme
175 * de l'erreur, comme le fait la fonction valeur_const.
176 * La fonction non constante stocke de plus le resultat dans this ->lambda.
177 * \param val_e: valeur de la norme de l'erreur.
178 * \return: valeur de gain au point courrant.
179 */
180 double value(double x) const;
181
182 double limitValue_const(void) const;
183
184 double limitValue(void) const;
185
186 /* --- ACCESSORS ----------------------------------------------------------
187 */
188
195 inline double getLastValue(void) const { return this->lambda; }
196
197 double operator()(double x) const;
198
199 /* \brief Lance la fonction valeur avec la norme INFINIE du vecteur. */
200 double operator()(const vpColVector &x) const;
201
202 /* \brief Idem function limitValue. */
203 double operator()(void) const;
204
205 /* --- IOSTREAM -----------------------------------------------------------
206 */
207 friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpAdaptiveGain &lambda);
208};
209
210#endif
Adaptive gain computation.
double getLastValue(void) const
static const double DEFAULT_LAMBDA_ZERO
static const double DEFAULT_LAMBDA_INFINITY
static const double DEFAULT_LAMBDA_SLOPE
Implementation of column vector and the associated operations.