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--- eeros_architecture:control_system:available_blocks:transition [2017/12/07 17:47] – [Interpolator] graf
+++ eeros_architecture:control_system:available_blocks:transition [2021/02/10 15:40] (current) – [Interpolator] ursgraf
@@ Line 20: / Line 20: @@
 <code cpp>
   Transition<Vector2> tInterpolator(10, true);
+</code>
+IMPORTANT When interpolating it is very important that the slow and the fast block of the transition block run in harmonic tasks with their periods having the same ratio as the transition block itself. For the example above, that means, that the fast part runs exactly 10 times while the slow part runs once. Time domains which run concurrently always have some timing jitter, which could lead to the ratio being sporadically 9 or 11 instead of 10. Therefore, you have to make sure to run the slow time domain only after the fast time domain has finished. This can be achieved as described in [[eeros_architecture:control_system:executor|]]. For our example this leads to
+<code cpp>
+  Transition<Vector2> tInterpolator(10);
+  TimeDomain tdSlow("td slow", 0.1, false);
+  Periodic perSlow("perSlow", 0.1, tdSlow);
+  Timedomain tdFast("td fast", 0.01, true);
+  Periodic perFast("perFast", 0.1, tdFast);
+  tdSlow.add(tInterpolator.inBlock);
+  tdFast.add(tInterpolator.outBlock);
+  perFast.after.push_back(perSlow);
+  Executor.add(perFast);
 </code>
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