eeros_architecture:control_system:blocks
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eeros_architecture:control_system:blocks [2017/03/17 09:16] – [Inputs and Outputs] graf | eeros_architecture:control_system:blocks [2017/03/17 12:07] – [Signals] graf | ||
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===== Inputs and Outputs ===== | ===== Inputs and Outputs ===== | ||
Every output carries a signal. An input can be connected to an output and simply refers to the signal of this connected output. | Every output carries a signal. An input can be connected to an output and simply refers to the signal of this connected output. | ||
- | [{{ block.png?300 | //Two blocks connected together// | + | [{{ block.png?200 | //Two blocks connected together// |
This makes sure that each input is connected to a single output. On the other hand, an output can carry its signal to many inputs. | This makes sure that each input is connected to a single output. On the other hand, an output can carry its signal to many inputs. | ||
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Output signals are created together with the blocks. On the other side, there is no need to generate and name input signals. | Output signals are created together with the blocks. On the other side, there is no need to generate and name input signals. | ||
- | =====Signals===== | ||
- | The signals used to connect the blocks can be of different types. They can be parametrized with the aid of template parameters. Supported types are | ||
- | * Arithmetic (int, double ...) | ||
- | * Logic (bool) | ||
- | * Vector (Vector2, Vector3, Vector4) | ||
- | * Matrix | ||
- | Each signal can be assigned a name and a unit. All dimensions of a signal share the same name and unit.\\ | ||
- | |||
- | As an example we look at a block which does summation. Two signals, each of dimension 3, will be added together. | ||
- | <code cpp> | ||
- | Sum< | ||
- | sum.setName(" | ||
- | sum.getOut().getSignal().setName(" | ||
- | </ | ||
- | This is shown in the following diagram: | ||
- | {{ sumblock.png? | ||
- | |||
- | The functions //getIn()// and // | ||
=====Making Connections===== | =====Making Connections===== |
eeros_architecture/control_system/blocks.txt · Last modified: 2022/04/19 12:36 by ursgraf