Line data    Source code

       1            0 : // Distributed under the MIT License.
       2              : // See LICENSE.txt for details.
       3              : 
       4              : #pragma once
       5              : 
       6              : #include <cstddef>
       7              : 
       8              : /// \cond
       9              : template <size_t DerivOrder>
      10              : class Controller;
      11              : class DataVector;
      12              : template <bool AllowDecrease>
      13              : class TimescaleTuner;
      14              : /// \endcond
      15              : 
      16              : namespace control_system {
      17              : /*!
      18              :  * \ingroup ControlSystemGroup
      19              :  * \brief Calculate the measurement timescale based on the damping timescale,
      20              :  * update fraction, and DerivOrder of the control system
      21              :  *
      22              :  * The update timescale is \f$\tau_\mathrm{update} = \alpha_\mathrm{update}
      23              :  * \tau_\mathrm{damp}\f$ where \f$\tau_\mathrm{damp}\f$ is the damping timescale
      24              :  * (from the TimescaleTuner) and \f$\alpha_\mathrm{update}\f$ is the update
      25              :  * fraction (from the controller). For an Nth order control system, the averager
      26              :  * requires at least N measurements in order to perform its finite
      27              :  * differencing to calculate the derivatives of the control error. This implies
      28              :  * that the largest the measurement timescale can be is \f$\tau_\mathrm{m} =
      29              :  * \tau_\mathrm{update} / N\f$. To ensure that we have sufficient measurements,
      30              :  * we calculate the measurement timescales as \f$\tau_\mathrm{m} =
      31              :  * \tau_\mathrm{update} / N\f$ where \f$N\f$ is `measurements_per_update`.
      32              :  */
      33              : template <size_t DerivOrder, bool AllowDecrease>
      34            1 : DataVector calculate_measurement_timescales(
      35              :     const ::Controller<DerivOrder>& controller,
      36              :     const ::TimescaleTuner<AllowDecrease>& tuner,
      37              :     const int measurements_per_update);
      38              : }  // namespace control_system