InputShaper.hpp

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//
// C++ Interface: InputShaper 
//
// Description: Input Shaper is command generation technique used to remove the vibrations from 
// the system with known dynamics
//
//
// Author:  <Ajish Babu>, (C) 2011
//
// Copyright: See COPYING file that comes with this distribution
//
//
#ifndef CONTROLLERINPUTSHAPERCONTROLLER_H
#define CONTROLLERINPUTSHAPERCONTROLLER_H

#include <math.h>
#include <iostream>
#include <iomanip>
#include <vector>
#include <deque>

namespace motor_controller
{
    class InputShaper
    {
        public:
            InputShaper() {};
            void setCoefficients(double _Ts, 
                    double _dampingRatio,
                    double _naturalFrequency,
                    int nrImpulses = 2);

            void setDirectCoefficients (double _Ts, 
                    double _K,
                    double _timeDelay,
                    int _nrImpulses = 2);

            void printCoefficients();

            double update ( double _referenceInput, 
                    double time = 0.0  );

            void reset() { currTime = 0.0; 
                referenceInput.clear();}

        private:

            double Ts; // Sampling time
            double currTime; // Integrated sampling time

            int nrImpulses;  // Number of modes for the input shaper
                             // higher the number of modes .... higher the robustness
                             // 2 <= nrImpulses <= 4
                             // needs to be extended for further modes if needed
            double dampingRatio; // Damping ratio of the system 
            double naturalFrequency; // Natural frequency of the system \omega_0 

            std::vector<double> amplitudes; // The impulse amplitudes
            double K; // Step response overshoot
            double timeDelay; // Time of the first overshoot 

            double shapedCommand; // the shaped command output

            std::deque<double> referenceInput; // Stores the reference input for delayed signal
    };
}

#endif