RtjAocsFramework.SequentialDataProcessing
Class XmathUcbPidBlock

java.lang.Object
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  +--RtjAocsFramework.BasicObjects.RootObject
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        +--RtjAocsFramework.BasicObjects.AocsObject
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              +--RtjAocsFramework.SequentialDataProcessing.AbstractControlChannel
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                    +--RtjAocsFramework.SequentialDataProcessing.ControlChannelBlock
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                          +--RtjAocsFramework.SequentialDataProcessing.XmathUcbBlock
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                                +--RtjAocsFramework.SequentialDataProcessing.XmathUcbPidBlock

All Implemented Interfaces:

Configurable, DataSink, DataSource, Resettable, Telemeterable

public class XmathUcbPidBlock

extends XmathUcbBlock

PID control block acting as a container for a UCB-style autocode procedure generated by Xmath.

Copyright: see the Copyright Notice.

Version:

1.0

Author:

Alessandro Pasetti (University of Konstanz), Vaclav Cechticky (IfA ETHZ)

See Also:

The Sequential Data Processing Framelet Document

Field Summary

Fields inherited from class RtjAocsFramework.SequentialDataProcessing.XmathUcbBlock

I_P, iinfo, R_P, rinfo, stateDer, xmathRecoveryAction

Fields inherited from class RtjAocsFramework.SequentialDataProcessing.ControlChannelBlock

dataSourceOutputPosition, initFlag, input, inputLink, onHold, output, outputBuffer, p, state, validityTime

Fields inherited from class RtjAocsFramework.SequentialDataProcessing.AbstractControlChannel

ccLink, channelPropagation, enclosingControlChannel, lastPropagatedTime, m, n, noPropagation, propagationToken, recoveryAction, totalPropagation

Fields inherited from interface RtjAocsFramework.TelemetryManagement.Telemeterable

DEBUG_TM, LONG_TM, NORMAL_TM, NTMFORMATS, SHORT_TM

Constructor Summary

XmathUcbPidBlock(int samplingTime)
Creates a new XmathUcbPidBlock object with the specified samplingTime.

Method Summary

double	getKd()
double	getKi()
double	getKp()
int	getTelemetryImageLength() Return the length in bits of the telemetry image that would be written by the object in response to a call to method writeToTelemetry.
void	setKd(double newKd)
void	setKi(double newKi)
void	setKp(double newKp)
void	ucbHook(int[] iinfoUcbHook, double[] rinfoUcbHook, double[] inputUcbHook, double[] stateUcbHook, double[] stateDerUcbHook, double[] outputUcbHook, double[] R_P_UcbHook, int[] I_P_UcbHook) Calls the UCB subroutine.
void	writeToTelemetry(TelemetryStream stream) Causes the object to write its own state to the telemetry stream.

Methods inherited from class RtjAocsFramework.SequentialDataProcessing.XmathUcbBlock

getUcbErrorRecoveryAction, propagationAlgorithm, reset, resetConfiguration, setSamplingTime, setUcbErrorRecoveryAction

Methods inherited from class RtjAocsFramework.SequentialDataProcessing.ControlChannelBlock

getNumberOfStates, getOutput, getState, getValidityTime, isConfigured, isOnHold, linkInput, linkInput, propagate, resetMemory, setInput, setInputSize, setOnHold, setOutputSize, setState, setStateSize

Methods inherited from class RtjAocsFramework.SequentialDataProcessing.AbstractControlChannel

getEnclosingControlChannel, getIllegalTimeRecoveryAction, getLastPropagatedTime, getNumberOfInputs, getNumberOfOutputs, getPropagationToken, reset, setEnclosingControlChannel, setIllegalTimeRecoveryAction, setNumberOfInputs, setNumberOfOutputs, setPropagationToken

Methods inherited from class RtjAocsFramework.BasicObjects.AocsObject

addConfigurationListener, addFailureListener, finalize, getAocsClock, getConfigurationListenerList, getCycle, getDestructionRecoveryAction, getFailureListenerList, getSystemManager, getTelemetryFormat, getTime, removeConfigurationListener, removeFailureListener, reportConfigurationEvent, reportFailure, resetStaticConfiguration, setAocsClock, setDestructionRecoveryAction, setMaxNumberOfConfigurationListeners, setMaxNumberOfFailureListeners, setSystemManager, setTelemetryFormat

Methods inherited from class RtjAocsFramework.BasicObjects.RootObject

getClassId, getInstanceId, setClassId

Methods inherited from class java.lang.Object

clone, equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

XmathUcbPidBlock

public XmathUcbPidBlock(int samplingTime)

Creates a new XmathUcbPidBlock object with the specified samplingTime.

Parameters:

samplingTime -

Method Detail

ucbHook

public void ucbHook(int[] iinfoUcbHook,
                    double[] rinfoUcbHook,
                    double[] inputUcbHook,
                    double[] stateUcbHook,
                    double[] stateDerUcbHook,
                    double[] outputUcbHook,
                    double[] R_P_UcbHook,
                    int[] I_P_UcbHook)

Calls the UCB subroutine.

Specified by:

ucbHook in class XmathUcbBlock

setKp

public void setKp(double newKp)

setKi

public void setKi(double newKi)

setKd

public void setKd(double newKd)

getKp

public double getKp()

getKi

public double getKi()

getKd

public double getKd()

getTelemetryImageLength

public int getTelemetryImageLength()

Return the length in bits of the telemetry image that would be written by the object in response to a call to method writeToTelemetry.

Specified by:

getTelemetryImageLength in interface Telemeterable

Overrides:

getTelemetryImageLength in class XmathUcbBlock

Returns:

the length in bits of the telemetry image

writeToTelemetry

public void writeToTelemetry(TelemetryStream stream)

Causes the object to write its own state to the telemetry stream.

Specified by:

writeToTelemetry in interface Telemeterable

Overrides:

writeToTelemetry in class XmathUcbBlock

Parameters:

stream - the telemetry stream