Advanced Robot Control System  5.1-REV.51SF170515
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: