Differences

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--- eeros_architecture:control_system:available_blocks:int [2017/04/06 13:41] – created graf
+++ eeros_architecture:control_system:available_blocks:int [2021/05/16 14:19] – ursgraf
@@ Line 1: / Line 1: @@
 ====== Integrator ======
-The gain block allows to amplify an input signal. In general, the input signal is of type matrix and hence, the gain will have to be a matrix as well. The following lines show various
+The integrator block allows to integrate an input signal. Before using it set its initial state with
-examples.
 <code cpp>
-  Gain<Vector2, Matrix<2,2>> g1({1,2.5,-1,-0.5});
+setInitCondition(T val);
 </code>
-The first template parameter denotes the input signal. The gain here is a 2x2-matrix.
+Without setting the initial state to a meaningful value, the output will be ''nan'' even after enabling the block.
-If a ''Gain'' block is declared with a single value each element of the input vector is multiplied with this value.
+An integrator can be enabled or disabled.
 <code cpp>
-  Gain<Vector2> g2(10);
+enable();
-  Gain<Vector2, double> g3(10);   // this is the same
+disable();
 </code>
+This, for instance, helps to stop integrating up a given input while handling an exception. Please note that an integrator is in the disabled state upon creation.
-Another useful operation is a by multipliying an input matrix with a given gain matrix element by element. This is achieved by
+An integrator block can be limited, such that its integral does not run over a certain limit. This limit can be set by calling
 <code cpp>
-  Gain<Vector2, Vector2, true> g4({10,20});
+setLimit(T upper, T lower);
 </code>
-The third template parameter specifies an element-by-element multiplication. Please beware of the fact that in this case input signal and gain matrix must be of the same dimensions.
+The default values for the limits are the positive and negative maximum values of the given type.