BlockDelay.hpp
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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file blocks.h
*
* Controller library code
*/
#pragma once
#include <px4_platform_common/defines.h>
#include <assert.h>
#include <time.h>
#include <stdlib.h>
#include <math.h>
#include <mathlib/math/test/test.hpp>
#include <mathlib/math/filter/LowPassFilter2p.hpp>
#include "block/Block.hpp"
#include "block/BlockParam.hpp"
#include "matrix/math.hpp"
namespace control
{
template<class Type, size_t M, size_t N, size_t LEN>
class __EXPORT BlockDelay: public Block
{
public:
// methods
BlockDelay(SuperBlock *parent, const char *name) :
Block(parent, name),
_h(),
_index(0),
_delay(-1)
{}
virtual ~BlockDelay() = default;
matrix::Matrix<Type, M, N> update(const matrix::Matrix<Type, M, N> &u)
{
// store current value
_h[_index] = u;
// delay starts at zero, then increases to LEN
_delay += 1;
if (_delay > (int)(LEN - 1)) {
_delay = LEN - 1;
}
// compute position of delayed value
int j = _index - _delay;
if (j < 0) {
j += LEN;
}
// increment storage position
_index += 1;
if (_index > (LEN - 1)) {
_index = 0;
}
// get delayed value
return _h[j];
}
matrix::Matrix<Type, M, N> get(size_t delay)
{
int j = _index - delay;
if (j < 0) { j += LEN; }
return _h[j];
}
private:
// attributes
matrix::Matrix<Type, M, N> _h[LEN];
size_t _index;
int _delay;
};
} // namespace control