double Controller::getNextSamplingInstant( double currentTime
)
{
double nextControlLaw = INFTY;
double nextEstimator = INFTY;
if ( controlLaw != 0 )
{
if ( acadoIsInteger( (currentTime-0.0) / getSamplingTimeControlLaw( ) ) == BT_TRUE )
nextControlLaw = currentTime + getSamplingTimeControlLaw( );
else
nextControlLaw = ceil( (currentTime-0.0) / getSamplingTimeControlLaw( ) ) * getSamplingTimeControlLaw( );
}
if ( estimator != 0 )
{
if ( acadoIsInteger( (currentTime-0.0) / getSamplingTimeEstimator( ) ) == BT_TRUE )
nextEstimator = currentTime + getSamplingTimeEstimator( );
else
nextEstimator = ceil( (currentTime-0.0) / getSamplingTimeEstimator( ) ) * getSamplingTimeEstimator( );
}
return acadoMin( nextControlLaw,nextEstimator );
}
returnValue PlotWindow::getAutoScaleYLimits( const VariablesGrid& dataGridY,
PlotFormat plotFormat,
double& lowerLimit,
double& upperLimit
) const
{
double maxValue = dataGridY.getMax( );
double minValue = dataGridY.getMin( );
double meanValue = dataGridY.getMean( );
if ( ( acadoIsZero( maxValue ) == BT_TRUE ) && ( acadoIsZero( minValue ) == BT_TRUE ) )
meanValue = 0.1 / 0.025;
lowerLimit = minValue - 0.1*( maxValue-minValue ) - 0.025*meanValue - 1.0e-8;
upperLimit = maxValue + 0.1*( maxValue-minValue ) + 0.025*meanValue + 1.0e-8;
if ( ( plotFormat == PF_LOG ) || ( plotFormat == PF_LOG_LOG ) )
{
if ( ( acadoIsStrictlyGreater( minValue,0.0, ZERO ) == BT_TRUE ) && ( acadoIsGreater( lowerLimit,0.0, ZERO ) == BT_FALSE ) )
{
lowerLimit = ( minValue + acadoMin( minValue,EPS ) ) / sqrt(10.0);
upperLimit = upperLimit * sqrt(10.0);
}
}
else
{
if ( ( acadoIsStrictlyGreater( minValue,0.0, ZERO ) == BT_TRUE ) && ( acadoIsGreater( lowerLimit,0.0, ZERO ) == BT_FALSE ) )
lowerLimit = 0.0;
if ( ( acadoIsStrictlySmaller( maxValue,0.0 ) == BT_TRUE ) && ( acadoIsSmaller( upperLimit,0.0 ) == BT_FALSE ) )
upperLimit = 0.0;
}
return SUCCESSFUL_RETURN;
}
