eeros_architecture:control_system:signals
Differences
This shows you the differences between two versions of the page.
Both sides previous revisionPrevious revisionNext revision | Previous revision | ||
eeros_architecture:control_system:signals [2017/03/17 12:10] – [Properties] graf | eeros_architecture:control_system:signals [2021/03/03 08:29] (current) – [Reading from Unconnected Inputs] ursgraf | ||
---|---|---|---|
Line 6: | Line 6: | ||
Each element of a signal is characterized by a value, a high precision timestamp, a name and additional properties, depending on the type of signal, which will provide semantic information. Some examples are dimension (e.g. length, mass, current, etc.), SI-unit (e.g. m, m/s, kg, Nm, A, etc.), reference coordinate system or activation state (enabled/ | Each element of a signal is characterized by a value, a high precision timestamp, a name and additional properties, depending on the type of signal, which will provide semantic information. Some examples are dimension (e.g. length, mass, current, etc.), SI-unit (e.g. m, m/s, kg, Nm, A, etc.), reference coordinate system or activation state (enabled/ | ||
- | {{ signaluml.png? | + | [{{ signaluml.png? |
It's important to note that a signal can carry a single value as well as a vector or matrix of values. For this purpose the field //value// is declared as of type T. | It's important to note that a signal can carry a single value as well as a vector or matrix of values. For this purpose the field //value// is declared as of type T. | ||
Line 25: | Line 25: | ||
</ | </ | ||
This is shown in the following diagram: | This is shown in the following diagram: | ||
- | {{ sumblock.png? | + | [{{ sumblock.png? |
The functions //getIn()// and // | The functions //getIn()// and // | ||
- | ===== Using Signals | + | ===== Timestamp |
- | The example below shows a gain block being defined, where its input and output | + | Every signal carries a timestamp. |
- | <code cpp> | + | Most blocks will not alter this timestamp. However, blocks which depend on the sampling time such as integrators or differentiators will change the timestamp according to their inner algorithm. |
- | | + | |
- | </ | + | ===== Reading from Unconnected Inputs ===== |
+ | If you try to read from an input, which is not connected to an output, a // | ||
- | If a '' | ||
- | <code cpp> | ||
- | Gain< | ||
- | </ | ||
- | In order to access the individual dimensions of a certain signal, use functions like | ||
- | <code cpp> | ||
- | g1.getOut().getValue(); | ||
- | g1.getOut().getValue().getRow(1); | ||
- | </ | ||
eeros_architecture/control_system/signals.txt · Last modified: 2021/03/03 08:29 by ursgraf