Template class for time-series signals with interpolation, extrapolation, and derivative capabilities. More...

#include <Signal.h>

Classes
struct	SignalDP
	Data point structure storing time, value, and derivative. More...

Public Types
using	BaseType = typename BaseSignalSpec::Type

using	TangentType = typename TangentSignalSpec::Type

Public Member Functions
	Signal ()
	Default constructor initializing with LINEAR interpolation, ZEROS extrapolation, and DIRTY derivative.

	Signal (const Signal &other)
	Copy constructor.

Signal< T, TangentSignalSpec, TangentSignalSpec >	dotSignal ()
	Create a new signal representing the time derivative of this signal.

double	t () const
	Get the current time of the signal.

BaseType	operator() () const
	Get the current signal value.

TangentType	dot () const
	Get the current time derivative of the signal.

BaseType	operator() (const double &t) const
	Get the signal value at a specific time using interpolation/extrapolation.

TangentType	dot (const double &t) const
	Get the signal derivative at a specific time using interpolation/extrapolation.

std::vector< BaseType >	operator() (const std::vector< double > &t) const
	Get signal values at multiple time points.

std::vector< TangentType >	dot (const std::vector< double > &t) const
	Get signal derivatives at multiple time points.

void	setInterpolationMethod (InterpolationMethod method)
	Set the interpolation method for this signal.

void	setExtrapolationMethod (ExtrapolationMethod method)
	Set the extrapolation method for this signal.

void	setDerivativeMethod (DerivativeMethod method)
	Set the derivative computation method for this signal.

void	reset ()
	Reset the signal to initial state, clearing all history.

bool	update (const double &_t, const BaseType &_x, bool insertHistory=false)
	Update the signal with a new value at a given time, computing derivative automatically.

bool	update (const double &_t, const BaseType &_x, const TangentType &_xdot, bool insertHistory=false)
	Update the signal with a new value and derivative at a given time.

bool	update (const std::vector< double > &_tHistory, const std::vector< BaseType > &_xHistory)
	Update the signal with a history of values, computing derivatives automatically.

bool	update (const std::vector< double > &_tHistory, const std::vector< BaseType > &_xHistory, const std::vector< TangentType > &_xdotHistory)
	Update the signal with a history of values and derivatives.

Static Public Member Functions
static BaseType	baseZero ()
	Get the zero (identity) value for the base signal type.

static TangentType	tangentZero ()
	Get the zero (identity) value for the tangent signal type.

static T	baseNorm (const BaseType &x)
	Compute the norm of a base signal value.

static T	tangentNorm (const TangentType &x)
	Compute the norm of a tangent signal value.

Public Attributes
struct {

}	SignalDPComparator
	Comparator for sorting signal data points by time.

InterpolationMethod	interpolationMethod

ExtrapolationMethod	extrapolationMethod

DerivativeMethod	derivativeMethod

Friends
template<typename S, typename BSS, typename TSS>
Signal< S, BSS, TSS >	operator+ (const Signal< S, BSS, TSS > &l, const Signal< S, TSS, TSS > &r)

template<typename S, typename BSS, typename TSS>
Signal< S, TSS, TSS >	operator- (const Signal< S, BSS, TSS > &l, const Signal< S, BSS, TSS > &r)

template<typename S, typename BSS, typename TSS>
Signal< S, BSS, TSS >	operator* (const double &l, const Signal< S, BSS, TSS > &r)

template<typename S, typename BSS, typename TSS>
Signal< S, BSS, TSS >	operator* (const Signal< S, BSS, TSS > &l, const double &r)

Detailed Description

template<typename T, typename BaseSignalSpec, typename TangentSignalSpec>
class Signal< T, BaseSignalSpec, TangentSignalSpec >

Template class for time-series signals with interpolation, extrapolation, and derivative capabilities.

The Signal class represents a time-varying signal that stores both the value and its time derivative. It supports various interpolation methods for querying values at arbitrary time points, configurable extrapolation behavior outside the defined time range, and automatic derivative computation.

Template Parameters

BaseSignalSpec	Type specification for the signal values (can be scalar, vector, or manifold types).
TangentSignalSpec	Type specification for the signal derivatives (typically vector types).

Example usage:

ScalardSignal mySignal;
mySignal.setInterpolationMethod(InterpolationMethod::LINEAR);
mySignal.update(1.0, 5.0, true);  // time=1.0, value=5.0, store in history
mySignal.update(2.0, 7.0, true);  // time=2.0, value=7.0, store in history
double interpValue = mySignal(1.5);  // Query interpolated value at t=1.5

Member Typedef Documentation

◆ BaseType

template<typename T, typename BaseSignalSpec, typename TangentSignalSpec>

using Signal< T, BaseSignalSpec, TangentSignalSpec >::BaseType = typename BaseSignalSpec::Type

◆ TangentType

template<typename T, typename BaseSignalSpec, typename TangentSignalSpec>

using Signal< T, BaseSignalSpec, TangentSignalSpec >::TangentType = typename TangentSignalSpec::Type

Constructor & Destructor Documentation

◆ Signal() [1/2]

template<typename T, typename BaseSignalSpec, typename TangentSignalSpec>

Signal< T, BaseSignalSpec, TangentSignalSpec >::Signal ( )

inline

Default constructor initializing with LINEAR interpolation, ZEROS extrapolation, and DIRTY derivative.

◆ Signal() [2/2]

template<typename T, typename BaseSignalSpec, typename TangentSignalSpec>

Signal< T, BaseSignalSpec, TangentSignalSpec >::Signal ( const Signal< T, BaseSignalSpec, TangentSignalSpec > & other )

inline

Copy constructor.

Parameters

other The signal to copy from.

Member Function Documentation

◆ baseNorm()

template<typename T, typename BaseSignalSpec, typename TangentSignalSpec>

static T Signal< T, BaseSignalSpec, TangentSignalSpec >::baseNorm ( const BaseType & x )

inlinestatic

Compute the norm of a base signal value.

Parameters

x	The base signal value.

Returns: The norm (magnitude) of the value.

◆ baseZero()

template<typename T, typename BaseSignalSpec, typename TangentSignalSpec>

static BaseType Signal< T, BaseSignalSpec, TangentSignalSpec >::baseZero ( )

inlinestatic

Get the zero (identity) value for the base signal type.

Returns: Zero/identity element for the base type.

◆ dot() [1/3]

template<typename T, typename BaseSignalSpec, typename TangentSignalSpec>

TangentType Signal< T, BaseSignalSpec, TangentSignalSpec >::dot ( ) const

inline

Get the current time derivative of the signal.

Returns: The current derivative value.

◆ dot() [2/3]

template<typename T, typename BaseSignalSpec, typename TangentSignalSpec>

TangentType Signal< T, BaseSignalSpec, TangentSignalSpec >::dot ( const double & t ) const

inline

Get the signal derivative at a specific time using interpolation/extrapolation.

Parameters

t	The time to query.

Returns: The interpolated/extrapolated derivative value at time t.

◆ dot() [3/3]

template<typename T, typename BaseSignalSpec, typename TangentSignalSpec>

std::vector< TangentType > Signal< T, BaseSignalSpec, TangentSignalSpec >::dot ( const std::vector< double > & t ) const

inline

Get signal derivatives at multiple time points.

Parameters

t	Vector of time points to query.

Returns: Vector of interpolated/extrapolated derivative values.

◆ dotSignal()

template<typename T, typename BaseSignalSpec, typename TangentSignalSpec>

Signal< T, TangentSignalSpec, TangentSignalSpec > Signal< T, BaseSignalSpec, TangentSignalSpec >::dotSignal ( )

inline

Create a new signal representing the time derivative of this signal.

Returns: A signal containing the derivative values from this signal's history.

◆ operator()() [1/3]

template<typename T, typename BaseSignalSpec, typename TangentSignalSpec>

BaseType Signal< T, BaseSignalSpec, TangentSignalSpec >::operator() ( ) const

inline

Get the current signal value.

Returns: The current value.

◆ operator()() [2/3]

template<typename T, typename BaseSignalSpec, typename TangentSignalSpec>

BaseType Signal< T, BaseSignalSpec, TangentSignalSpec >::operator() ( const double & t ) const

inline

Get the signal value at a specific time using interpolation/extrapolation.

Parameters

t	The time to query.

Returns: The interpolated/extrapolated signal value at time t.

◆ operator()() [3/3]

template<typename T, typename BaseSignalSpec, typename TangentSignalSpec>

std::vector< BaseType > Signal< T, BaseSignalSpec, TangentSignalSpec >::operator() ( const std::vector< double > & t ) const

inline

Get signal values at multiple time points.

Parameters

t	Vector of time points to query.

Returns: Vector of interpolated/extrapolated signal values.

◆ reset()

template<typename T, typename BaseSignalSpec, typename TangentSignalSpec>

void Signal< T, BaseSignalSpec, TangentSignalSpec >::reset ( )

inline

Reset the signal to initial state, clearing all history.

◆ setDerivativeMethod()

template<typename T, typename BaseSignalSpec, typename TangentSignalSpec>

void Signal< T, BaseSignalSpec, TangentSignalSpec >::setDerivativeMethod ( DerivativeMethod method )

inline

Set the derivative computation method for this signal.

Parameters

method The derivative method to use.

◆ setExtrapolationMethod()

template<typename T, typename BaseSignalSpec, typename TangentSignalSpec>

void Signal< T, BaseSignalSpec, TangentSignalSpec >::setExtrapolationMethod ( ExtrapolationMethod method )

inline

Set the extrapolation method for this signal.

Parameters

method The extrapolation method to use.

◆ setInterpolationMethod()

template<typename T, typename BaseSignalSpec, typename TangentSignalSpec>

void Signal< T, BaseSignalSpec, TangentSignalSpec >::setInterpolationMethod ( InterpolationMethod method )

inline

Set the interpolation method for this signal.

Parameters

method The interpolation method to use.

◆ t()

template<typename T, typename BaseSignalSpec, typename TangentSignalSpec>

double Signal< T, BaseSignalSpec, TangentSignalSpec >::t ( ) const

inline

Get the current time of the signal.

Returns: The current time value.

◆ tangentNorm()

template<typename T, typename BaseSignalSpec, typename TangentSignalSpec>

static T Signal< T, BaseSignalSpec, TangentSignalSpec >::tangentNorm ( const TangentType & x )

inlinestatic

Compute the norm of a tangent signal value.

Parameters

x	The tangent signal value.

Returns: The norm (magnitude) of the value.

◆ tangentZero()

template<typename T, typename BaseSignalSpec, typename TangentSignalSpec>

static TangentType Signal< T, BaseSignalSpec, TangentSignalSpec >::tangentZero ( )

inlinestatic

Get the zero (identity) value for the tangent signal type.

Returns: Zero/identity element for the tangent type.

◆ update() [1/4]

template<typename T, typename BaseSignalSpec, typename TangentSignalSpec>

bool Signal< T, BaseSignalSpec, TangentSignalSpec >::update	(	const double &	_t,
		const BaseType &	_x,
		bool	insertHistory = false )

inline

Update the signal with a new value at a given time, computing derivative automatically.

Parameters

_t	The time of the new data point.
_x	The value at time _t.
insertHistory	Whether to store this data point in history for interpolation.

Returns: true if update was successful, false otherwise.

◆ update() [2/4]

template<typename T, typename BaseSignalSpec, typename TangentSignalSpec>

bool Signal< T, BaseSignalSpec, TangentSignalSpec >::update	(	const double &	_t,
		const BaseType &	_x,
		const TangentType &	_xdot,
		bool	insertHistory = false )

inline

Update the signal with a new value and derivative at a given time.

Parameters

_t	The time of the new data point.
_x	The value at time _t.
_xdot	The derivative at time _t.
insertHistory	Whether to store this data point in history for interpolation.

Returns: true if update was successful, false otherwise.

◆ update() [3/4]

template<typename T, typename BaseSignalSpec, typename TangentSignalSpec>

bool Signal< T, BaseSignalSpec, TangentSignalSpec >::update	(	const std::vector< double > &	_tHistory,
		const std::vector< BaseType > &	_xHistory )

inline

Update the signal with a history of values, computing derivatives automatically.

Parameters

_tHistory	Vector of time points.
_xHistory	Vector of values corresponding to each time point.

Returns: true if update was successful, false otherwise.

◆ update() [4/4]

template<typename T, typename BaseSignalSpec, typename TangentSignalSpec>

bool Signal< T, BaseSignalSpec, TangentSignalSpec >::update	(	const std::vector< double > &	_tHistory,
		const std::vector< BaseType > &	_xHistory,
		const std::vector< TangentType > &	_xdotHistory )

inline

Update the signal with a history of values and derivatives.

Parameters

_tHistory	Vector of time points.
_xHistory	Vector of values corresponding to each time point.
_xdotHistory	Vector of derivatives corresponding to each time point.

Returns: true if update was successful, false if vector sizes don't match.

Friends And Related Symbol Documentation

◆ operator* [1/2]

template<typename T, typename BaseSignalSpec, typename TangentSignalSpec>

template<typename S, typename BSS, typename TSS>

Signal< S, BSS, TSS > operator*	(	const double &	l,
		const Signal< S, BSS, TSS > &	r )

friend

◆ operator* [2/2]

template<typename T, typename BaseSignalSpec, typename TangentSignalSpec>

template<typename S, typename BSS, typename TSS>

Signal< S, BSS, TSS > operator*	(	const Signal< S, BSS, TSS > &	l,
		const double &	r )

friend

◆ operator+

template<typename T, typename BaseSignalSpec, typename TangentSignalSpec>

template<typename S, typename BSS, typename TSS>

Signal< S, BSS, TSS > operator+	(	const Signal< S, BSS, TSS > &	l,
		const Signal< S, TSS, TSS > &	r )

friend

◆ operator-

template<typename T, typename BaseSignalSpec, typename TangentSignalSpec>

template<typename S, typename BSS, typename TSS>

Signal< S, TSS, TSS > operator-	(	const Signal< S, BSS, TSS > &	l,
		const Signal< S, BSS, TSS > &	r )

friend

Member Data Documentation

◆ derivativeMethod

template<typename T, typename BaseSignalSpec, typename TangentSignalSpec>

DerivativeMethod Signal< T, BaseSignalSpec, TangentSignalSpec >::derivativeMethod

Current derivative computation method.

◆ extrapolationMethod

template<typename T, typename BaseSignalSpec, typename TangentSignalSpec>

ExtrapolationMethod Signal< T, BaseSignalSpec, TangentSignalSpec >::extrapolationMethod

Current extrapolation method.

◆ interpolationMethod

template<typename T, typename BaseSignalSpec, typename TangentSignalSpec>

InterpolationMethod Signal< T, BaseSignalSpec, TangentSignalSpec >::interpolationMethod

Current interpolation method.

◆ [struct]

struct { ... } Signal< T, BaseSignalSpec, TangentSignalSpec >::SignalDPComparator

Comparator for sorting signal data points by time.

The documentation for this class was generated from the following file:

include/signals/Signal.h

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ BaseType

◆ TangentType

Constructor & Destructor Documentation

◆ Signal() [1/2]

◆ Signal() [2/2]

Member Function Documentation

◆ baseNorm()

◆ baseZero()

◆ dot() [1/3]

◆ dot() [2/3]

◆ dot() [3/3]

◆ dotSignal()

◆ operator()() [1/3]

◆ operator()() [2/3]

◆ operator()() [3/3]

◆ reset()

◆ setDerivativeMethod()

◆ setExtrapolationMethod()

◆ setInterpolationMethod()

◆ t()

◆ tangentNorm()

◆ tangentZero()

◆ update() [1/4]

◆ update() [2/4]

◆ update() [3/4]

◆ update() [4/4]

Friends And Related Symbol Documentation

◆ operator* [1/2]

◆ operator* [2/2]

◆ operator+

◆ operator-

Member Data Documentation

◆ derivativeMethod

◆ extrapolationMethod

◆ interpolationMethod

◆ [struct]