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