Real-Time Robotics Framework

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====== Integrator ======
The integrator block allows to integrate an input signal. Before using it set its initial state with
<code cpp>
setInitCondition(T val);
</code>
Without setting the initial state to a meaningful value, the output will be ''nan'' even after enabling the block. 

An integrator can be enabled or disabled. 
<code cpp>
enable();
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. Instead of enabling and disabling an integrator block manually, you can set an active safety level with 
<code cpp>
setActiveLevel(safetySystem, safetyLevel)
</code>
If the active level is set, the integrator will be automatically be enabled if the current safety level is equal or greater than the active level.  

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>
setLimit(T upper, T lower);
</code>
The default values for the limits are the positive and negative maximum values of the given type.