#include <azriel_shredder.hpp>

Classes
struct	Config

Public Member Functions
	AzrielShredder (const Config &config)

void	setBiteDepth (double biteDepth)

void	setBiteForce (int biteForce)

void	setPeriod (double period)

void	setPhase (double phase)

double	getScalingFactor (double input) const

Static Public Member Functions
static double	razielKalmanShredder (double input, double biteDepth, int biteForce, double period, double phase)

Detailed Description

Raven Asher Raziel's anti CV algorithm! Hopefully this is not relevant to military applications :D

This returns a scaling coefficient to be used in relation to rotation or even translation

https://www.desmos.com/calculator/f3662079d3 input - the control value, could be time phase, or anything, really biteDepth - how much the shredder decreases the speed in a "bite" it should be within [0,1] biteForce - how steep the "bite" is, it must be a posiive integer period - how often a bite happens, it should be a positive real number phase, the underlying function involves sine in radians

Constructor & Destructor Documentation

◆ AzrielShredder()

fang::chassis::AzrielShredder::AzrielShredder ( const Config & config )

Member Function Documentation

◆ getScalingFactor()

double fang::chassis::AzrielShredder::getScalingFactor ( double input ) const

◆ razielKalmanShredder()

double fang::chassis::AzrielShredder::razielKalmanShredder	(	double	input,
		double	biteDepth,
		int	biteForce,
		double	period,
		double	phase
	)

static

◆ setBiteDepth()

void fang::chassis::AzrielShredder::setBiteDepth ( double biteDepth )

◆ setBiteForce()

void fang::chassis::AzrielShredder::setBiteForce ( int biteForce )

◆ setPeriod()

void fang::chassis::AzrielShredder::setPeriod ( double period )

◆ setPhase()

void fang::chassis::AzrielShredder::setPhase ( double phase )

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

fang-mcb-project/src/control/chassis/formulae/azriel_shredder.hpp
fang-mcb-project/src/control/chassis/formulae/azriel_shredder.cpp

Classes

Public Member Functions

Static Public Member Functions