Member Function Documentation

Integrator::Integrator()

Set default values to prevent errors if Init() has not been called.

[virtual] void Integrator::Create(const char *shortName, CDPBaseObject *pParent)

Reimplemented from CDPBaseObject::Create().

Create the integrator with a shortName and a pParent object.

double Integrator::GetGti()

Returns Gti parameter

[override virtual] std::string Integrator::GetNodeTypeName() const

Reimplemented from ICDPNode::GetNodeTypeName().

Returns "Integrator"

double Integrator::Getk()

Returns k parameter

void Integrator::Init(double Gti, double yMin, double yMax, double k = 1)

Initialize integrator, set Gti integrator gain, yMin minimum output value limit and yMax maximum output value limit. The k integrator gain is set to 1 by default. This function can also be used to reset the Integrator output.

[virtual] double Integrator::Integrate(double x)

Integrates x. The output is calculated in following way: y = k * y_n + Gti * x, where x is input and y_n is the previous output value. The output is limited within a minimum and a maximum value. Should be called periodically to run the integrator. The method returns the new output value.

Note: To read the output more than once each period, use Value() method to prevent the integrator from calculating a new value.

void Integrator::SetGti(double Gti)

Sets Gti parameter.

void Integrator::SetLimits(double min, double max)

Sets integrator limits min and max

void Integrator::SetValue(double newValue)

Sets current output value to newValue.

void Integrator::Setk(double newk)

Sets k parameter.

double Integrator::Value()

Returns current output value without calculating new.