FeedForward< T, U > Class Template Reference

#include <feedforward.h>

Description

template<typename T, typename U>
class FeedForward< T, U >

pure virtual class for generic feedforward control systems.

Parameters

T	the data type for states
U	the data type for output

Public Member Functions
virtual void	reset ()=0
	Resets the internal state of the control system.
virtual U	calculate (const T &reference)=0
	Updates the control loop output.
U	get_output ()
	Gets the last saved output value.
T	get_reference ()
	Gets the currently stored reference state.

Public Attributes
U	output_min_
U	output_max_

Protected Attributes
T	reference_
U	output_

Member Function Documentation

calculate()

template<typename T, typename U>

virtual U FeedForward< T, U >::calculate ( const T & reference )

pure virtual

Updates the control loop output.

Parameters

reference

the current reference state for the system

Returns

the controller output

Implemented in LinearMotorFF, and LinearPlantInversionFeedforward< STATES, INPUTS >.

reset()

template<typename T, typename U>

virtual void FeedForward< T, U >::reset ( )

pure virtual

Resets the internal state of the control system.

Implemented in LinearMotorFF, and LinearPlantInversionFeedforward< STATES, INPUTS >.

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The documentation for this class was generated from the following file:

• core/math/controls/feedforward.h