BipedalLocomotion::Math::SchmittTrigger class
#include <BipedalLocomotion/Math/SchmittTrigger.h>

SchmittTrigger implements a discrete version of a SchmittTrigger See here for further details.

Base classes

template<class _Input, class _Output> class BipedalLocomotion::System::Advanceable<SchmittTriggerInput, SchmittTriggerOutput>: Basic class that represents a discrete system.

Public types

struct Params: Struct holding switching parameters for the Schmitt Trigger.

Public functions

auto initialize(std::weak_ptr<const ParametersHandler::IParametersHandler> handler) -> bool override: Initialize the SchmittTrigger block.
auto initialize(const Params& parameters) -> bool: Initialize the SchmittTrigger block.
auto setState(const SchmittTriggerState& state) -> bool: Set the state of the SchmittTrigger.
auto getState() const -> const SchmittTriggerState&: Get the state of the SchmittTrigger.
auto advance() -> bool override: Perform one step of the trigger.
auto isOutputValid() const -> bool override: Check if the output of the trigger is valid.
auto getOutput() const -> const SchmittTriggerOutput& override: Get the internal state of the SchmittTrigger.
auto setInput(const SchmittTriggerInput& input) -> bool override: Set the input of the trigger.

Function documentation

bool BipedalLocomotion::Math::SchmittTrigger::initialize(std::weak_ptr<const ParametersHandler::IParametersHandler> handler) override

Initialize the SchmittTrigger block.

Parameters
handler	pointer to the parameter handler.
Returns	true in case of success/false otherwise.

Note

The following parameters are required

Parameter Name	Type	Description	Mandatory
`on_threshold`	`double`	High value threshold to initiate an ON state switch after switchOnAfter	Yes
`off_threshold`	`double`	Low value threshold to initiate an OFF state switch after switchOffAfter	Yes
`switch_on_after`	`chrono:nanoseconds`	Nano seconds to wait for before switching to ON state from OFF state. Ensure it's greater than sampling time.	Yes
`switch_off_after`	`chrono:nanoseconds`	Nano seconds to wait for before switching to OFF state from ON state. Ensure it's greater than sampling time.	Yes

bool BipedalLocomotion::Math::SchmittTrigger::initialize(const Params& parameters)

Initialize the SchmittTrigger block.

Parameters
parameters	parameter required to initialize the block.
Returns	true in case of success/false otherwise.

bool BipedalLocomotion::Math::SchmittTrigger::setState(const SchmittTriggerState& state)

Set the state of the SchmittTrigger.

Parameters
state	The desired state of the SchmittTrigger.
Returns	True if the state is successfully set, false otherwise.

const SchmittTriggerState& BipedalLocomotion::Math::SchmittTrigger::getState() const

Get the state of the SchmittTrigger.

Returns	the internal state of the SchmittTrigger.

bool BipedalLocomotion::Math::SchmittTrigger::advance() override

Perform one step of the trigger.

Returns	true in case of success, false otherwise.

bool BipedalLocomotion::Math::SchmittTrigger::isOutputValid() const override

Check if the output of the trigger is valid.

Returns	true in case of success, false otherwise.

const SchmittTriggerOutput& BipedalLocomotion::Math::SchmittTrigger::getOutput() const override

Get the internal state of the SchmittTrigger.

Returns	a const reference to the state of the trigger.

bool BipedalLocomotion::Math::SchmittTrigger::setInput(const SchmittTriggerInput& input) override

Set the input of the trigger.

Parameters
input	the input of the system. It contains the raw value and the current time instant.
Returns	true in case of success, false otherwise.