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--- eeros_architecture:control_system:available_blocks:transition [2017/10/20 17:08] – [Interpolator] graf
+++ eeros_architecture:control_system:available_blocks:transition [2017/12/07 17:47] – [Interpolator] graf
@@ Line 17: / Line 17: @@
 </code>
+You can configure the transition block in such a way, that it does not interpolate. In this case, each time the slower input block runs, its signal is directly put through to the output. The output signals follows the input signal without any interpolation. You can choose this behavior with setting the ''steady'' parameter to ''true''.
+<code cpp>
+  Transition<Vector2> tInterpolator(10, true);
+</code>
 ===== Filter =====
 A signal crossing from a fast time domain to a slower one, needs to behave like a filter. For this purpose the out block, which does the filtering, features an additional input signal. This input signal allows the filter to select a certain signal as next output signal.
@@ Line 22: / Line 26: @@
 [{{ :eeros_architecture:control_system:available_blocks:transferblockfilter.png?500 | //Transition block working as a filter.//}}]
-A filter block is created by choosing a ratio smaller then 1. The ratio must match the ratio of the periods of the two time domains. The figure above shows the resulting curve for a ratio of 0.1. Every time the slow time domain runs the out block of the transition block, the input signal of the out block is sampled. The timestamp of this input signal chooses
+A filter block is created by choosing a ratio smaller then 1. The ratio must match the ratio of the periods of the two time domains. The figure above shows the resulting curve for a ratio of 0.1. Every time the slow time domain runs the out block of the transition block (at t1, t2, t3), the input signal of the out block is sampled. The timestamp of this signal determines which of the buffered input signals is selected and brought to the output. The selection is done in such a way that the timestamp of the selected signals is as close as possible to the timestamp of the selection signal.
 <code cpp>
@@ Line 33: / Line 37: @@
 </code>
+You can configure the transition block in such a way, that it does not filter. In this case, each time the slower output block runs, it takes its signal directly from the actual input. The output signals follows the input signal without any filtering. You can choose this behavior with setting the ''steady'' parameter to ''true''.
+<code cpp>
+  Transition<Vector2> tFilter(0.1, true);
+</code>