ARCS 名前空間

クラス
class	ActuatorSim
class	ADC3133
class	ARCSassert
	ARCS用ASSERTクラス [詳解]
class	ARCSprint
	ARCS printライブラリ [詳解]
class	ARCSscreen
	ARCS画面描画クラス [詳解]
class	ChirpGenerator
class	ClassTemplate
	クラステンプレート [詳解]
class	ConstParams
class	ControlFunctions
	制御用周期実行関数群クラス [詳解]
class	CuiPlot
class	DataStorage
	データ格納/ファイル出力クラス [詳解]
class	Differentiator
class	Differentiator2
class	FirstDistObsrv
class	FixedAverage
class	FrameGraphics
class	HighPassFilter
class	HighPassFilter2
class	I_P_I_Pcontroller
	I-P-I-P制御器 [詳解]
class	I_PDcontroller
class	Integrator
	積分器 [詳解]
class	Integrator2
class	Interface
	インターフェースクラス [詳解]
class	LowPassFilter
class	LowPassFilter2
class	Matrix
class	NotchFilter
class	PCI3180
class	PCI3340
	PCI-3340入出力クラス [詳解]
class	PCI3343A
class	PCI6205C
class	PCIeAC01
	PCIe-AC01 インタフェースクラス [詳解]
class	PDcontroller
class	PhaseLeadLag
class	PIcontroller
class	PIDcontroller
class	RingBuffer
class	RPi2GPIO
class	SFmultthread
	実時間マルチスレッド生成・破棄クラス(SCHED_FIFO版) [詳解]
class	SFthread
class	TimeDelay
class	TwoInertiaSimulator
class	TwoStepGenerator
class	UDPReceiver
class	UDPTransmitter
class	VariableParams

型定義
typedef void(**	FuncPtrs) (void *)

関数
void	Discretize (const Matrix &Ac, const Matrix &Bc, Matrix &Ad, Matrix &Bd, const double Ts)
void	Discretize (const Matrix &Ac, const Matrix &Bc, Matrix &Ad, Matrix &Bd, const double Ts, const unsigned int Npade, const unsigned long Nint)
Matrix	operator+ (const double &left, const Matrix &right)
Matrix	operator- (const double &left, const Matrix &right)
Matrix	operator* (const double &left, const Matrix &right)
void	_PrintMatSize (const Matrix &u, const std::string &varname)
void	_PrintMatrix (const Matrix &u, const std::string &format, const std::string &varname)
Matrix	tp (const Matrix &u)
double	tr (const Matrix &u)
double	prod (const Matrix &u)
Matrix	diag (const Matrix &u)
double	det (const Matrix &A)
Matrix	inv (const Matrix &A)
Matrix	lpinv (const Matrix &A)
Matrix	rpinv (const Matrix &A)
Matrix	abs (const Matrix &U)
Matrix	sumrow (const Matrix &U)
Matrix	sumcolumn (const Matrix &U)
double	max (const Matrix &u)
double	absmax (const Matrix &u)
unsigned int	maxidx (const Matrix &u)
unsigned int	absmaxidx (const Matrix &u)
double	infnorm (const Matrix &U)
Matrix	getrow (const Matrix &u, unsigned int m)
void	setrow (Matrix &u, const Matrix &v, unsigned int m)
void	swaprow (Matrix &U, unsigned int m1, unsigned int m2)
void	fillrow (Matrix &U, double a, unsigned int m, unsigned int n1, unsigned int n2)
Matrix	getcolumn (const Matrix &u, unsigned int n)
void	setcolumn (Matrix &u, const Matrix &v, unsigned int n)
void	swapcolumn (Matrix &U, unsigned int n1, unsigned int n2)
void	fillcolumn (Matrix &U, double a, unsigned int n, unsigned int m1, unsigned int m2)
Matrix	orderrow (const Matrix &U, const Matrix &v)
Matrix	reorderrow (const Matrix &U, const Matrix &v)
Matrix	solve (const Matrix &A, const Matrix &b)
Matrix	expm (const Matrix &U, unsigned int M)
Matrix	integral_expm (const Matrix &U, const double T, const unsigned long N, const unsigned int P)
Matrix::LUperm	LU (const Matrix &A, Matrix &L, Matrix &U, Matrix &v)
Matrix	zeros (unsigned int n, unsigned int m)
Matrix	ones (unsigned int n, unsigned int m)
Matrix	ident (unsigned int n)
Matrix	eye (unsigned int n)
double	StairsWave (double Time, double Tini, double Ystp, double Tstp, double Nstp)
	階段波発生器 [詳解]
double	TriangleWave (double freq, double time)
	三角波発振器 [詳解]

型定義詳解

FuncPtrs

typedef void(** ARCS::FuncPtrs) (void *)

関数詳解

_PrintMatrix()

void ARCS::_PrintMatrix	(	const Matrix &	u,
		const std::string &	format,
		const std::string &	varname
	)

_PrintMatSize()

void ARCS::_PrintMatSize	(	const Matrix &	u,
		const std::string &	varname
	)

abs()

Matrix ARCS::abs

(

const Matrix &

U

)

absmax()

double ARCS::absmax

(

const Matrix &

u

)

absmaxidx()

unsigned int ARCS::absmaxidx

(

const Matrix &

u

)

det()

double ARCS::det

(

const Matrix &

A

)

diag()

Matrix ARCS::diag

(

const Matrix &

u

)

Discretize() [1/2]

void ARCS::Discretize	(	const Matrix &	Ac,
		const Matrix &	Bc,
		Matrix &	Ad,
		Matrix &	Bd,
		const double	Ts
	)

被呼び出し関係図:

Discretize() [2/2]

void ARCS::Discretize	(	const Matrix &	Ac,
		const Matrix &	Bc,
		Matrix &	Ad,
		Matrix &	Bd,
		const double	Ts,
		const unsigned int	Npade,
		const unsigned long	Nint
	)

呼び出し関係図:

expm()

Matrix ARCS::expm	(	const Matrix &	U,
		unsigned int	M
	)

呼び出し関係図:

被呼び出し関係図:

eye()

Matrix ARCS::eye

(

unsigned int

n

)

呼び出し関係図:

被呼び出し関係図:

fillcolumn()

void ARCS::fillcolumn	(	Matrix &	U,
		double	a,
		unsigned int	n,
		unsigned int	m1,
		unsigned int	m2
	)

fillrow()

void ARCS::fillrow	(	Matrix &	U,
		double	a,
		unsigned int	m,
		unsigned int	n1,
		unsigned int	n2
	)

getcolumn()

Matrix ARCS::getcolumn	(	const Matrix &	u,
		unsigned int	n
	)

getrow()

Matrix ARCS::getrow	(	const Matrix &	u,
		unsigned int	m
	)

ident()

Matrix ARCS::ident

(

unsigned int

n

)

呼び出し関係図:

被呼び出し関係図:

infnorm()

double ARCS::infnorm

(

const Matrix &

U

)

integral_expm()

Matrix ARCS::integral_expm	(	const Matrix &	U,
		const double	T,
		const unsigned long	N,
		const unsigned int	P
	)

呼び出し関係図:

被呼び出し関係図:

inv()

Matrix ARCS::inv

(

const Matrix &

A

)

呼び出し関係図:

lpinv()

Matrix ARCS::lpinv

(

const Matrix &

A

)

LU()

Matrix::LUperm ARCS::LU	(	const Matrix &	A,
		Matrix &	L,
		Matrix &	U,
		Matrix &	v
	)

max()

double ARCS::max

(

const Matrix &

u

)

maxidx()

unsigned int ARCS::maxidx

(

const Matrix &

u

)

ones()

Matrix ARCS::ones	(	unsigned int	n,
		unsigned int	m
	)

呼び出し関係図:

operator*()

Matrix ARCS::operator*	(	const double &	left,
		const Matrix &	right
	)

operator+()

Matrix ARCS::operator+	(	const double &	left,
		const Matrix &	right
	)

operator-()

Matrix ARCS::operator-	(	const double &	left,
		const Matrix &	right
	)

orderrow()

Matrix ARCS::orderrow	(	const Matrix &	U,
		const Matrix &	v
	)

prod()

double ARCS::prod

(

const Matrix &

u

)

reorderrow()

Matrix ARCS::reorderrow	(	const Matrix &	U,
		const Matrix &	v
	)

rpinv()

Matrix ARCS::rpinv

(

const Matrix &

A

)

setcolumn()

void ARCS::setcolumn	(	Matrix &	u,
		const Matrix &	v,
		unsigned int	n
	)

setrow()

void ARCS::setrow	(	Matrix &	u,
		const Matrix &	v,
		unsigned int	m
	)

solve()

Matrix ARCS::solve	(	const Matrix &	A,
		const Matrix &	b
	)

StairsWave()

double ARCS::StairsWave	(	double	Time,
		double	Tini,
		double	Ystp,
		double	Tstp,
		double	Nstp
	)

階段波発生器

引数

[in]	Time	[s] 現在時刻
[in]	Tini	[s] 階段の初期時刻
[in]	Ystp	[-] 階段1つ分の高さ
[in]	Tstp	[s] 階段1つ分の時間長さ
[in]	Nstp	[-] 階段の数

戻り値

階段波出力

sumcolumn()

Matrix ARCS::sumcolumn

(

const Matrix &

U

)

sumrow()

Matrix ARCS::sumrow

(

const Matrix &

U

)

swapcolumn()

void ARCS::swapcolumn	(	Matrix &	U,
		unsigned int	n1,
		unsigned int	n2
	)

swaprow()

void ARCS::swaprow	(	Matrix &	U,
		unsigned int	m1,
		unsigned int	m2
	)

tp()

Matrix ARCS::tp

(

const Matrix &

u

)

tr()

double ARCS::tr

(

const Matrix &

u

)

TriangleWave()

double ARCS::TriangleWave	(	double	freq,
		double	time
	)

三角波発振器

zeros()

Matrix ARCS::zeros	(	unsigned int	n,
		unsigned int	m
	)

被呼び出し関係図: