fix saturation on numa int/der wrappers

Author: camilo

library.json

@@ -16,7 +16,7 @@
       "maintainer": true
     }
   ],
-  "version": "1.4.0",
+  "version": "1.4.1",
   "license": "MIT",
   "frameworks": "arduino",
   "platforms": "*"

library.properties

@@ -1,5 +1,5 @@
 name=qlibs
-version=1.4.0
+version=1.4.1
 license=MIT
 author=J. Camilo Gomez C. <[email protected]>
 maintainer=J. Camilo Gomez C. <[email protected]>

src/CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required( VERSION 3.2 )
 project( qlibs-cpp
-         VERSION 1.4.0
+         VERSION 1.4.1
          DESCRIPTION "A collection of useful C++ libraries for embedded systems"
          LANGUAGES CXX )
 

src/include/numa.hpp

@@ -50,6 +50,8 @@ namespace qlibs {
     class nState {
         private:
             real_t x[ 3 ] = { 0.0_re, 0.0_re, 0.0_re };
+            real_t vmin{ -REAL_MAX };
+            real_t vmax{ +REAL_MAX };
             void inline update( const real_t &s )
             {
                 x[ 2 ] = x[ 1 ];
@@ -153,7 +155,18 @@ namespace qlibs {
                 dMethod = m;
             }
 
-             /**
+            /**
+            * @brief Sets the saturation limits for the integrator output.
+            * @param[in] minV The minimum value the output can reach.
+            * @param[in] maxV The maximum value the output can reach.
+            * @return @c true if the limits are valid and applied; @c false
+            * otherwise (e.g., minV > maxV).
+            * @note If not set, the output is unbounded.
+            */
+            bool setSaturation( const real_t minV,
+                                const real_t maxV ) noexcept;
+
+            /**
             * @brief Get the value of the state.
             * @return The current value of the state.
             */
@@ -222,8 +235,6 @@ namespace qlibs {
     class integrator : public nState, private nonCopyable {
         private:
             real_t dt;
-            real_t min{ -REAL_MAX };
-            real_t max{ +REAL_MAX };
         public:
             virtual ~integrator() {}
 
@@ -240,15 +251,6 @@ namespace qlibs {
             integrator( const real_t timeStep,
                         const real_t initialCondition = 0.0_re );
 
-            /**
-            * @brief Sets the saturation limits for the integrator output.
-            * @param[in] minV The minimum value the output can reach.
-            * @param[in] maxV The maximum value the output can reach.
-            * @return @c true if the limits are valid and applied; @c false
-            * otherwise (e.g., minV > maxV).
-            * @note If not set, the output is unbounded.
-            */
-            bool setSaturation( const real_t minV, const real_t maxV ) noexcept;
 
             /**
             * @brief Performs one step of numerical integration.

src/numa.cpp

@@ -32,6 +32,17 @@ real_t nState::integrate( const real_t s,
         default:
             break;
     }
+
+    if ( x[ 0 ] > vmax ) {
+        x[ 0 ] = vmax;
+    }
+    else if ( x[ 0 ] < vmin ) {
+        x[ 0 ] = vmin;
+    }
+    else {
+        /*nothing to do*/
+    }
+
     if ( bUpdate ) {
         update( s );
     }
@@ -58,48 +69,46 @@ real_t nState::derive( const real_t s,
         default:
             break;
     }
+
+    if ( x[ 0 ] > vmax ) {
+        x[ 0 ] = vmax;
+    }
+    else if ( x[ 0 ] < vmin ) {
+        x[ 0 ] = vmin;
+    }
+    else {
+        /*nothing to do*/
+    }
+
     if ( bUpdate ) {
         update( s );
     }
 
     return ds;
 }
 /*===========================================================================*/
-integrator::integrator(const real_t timeStep, const real_t initialCondition )
-    : dt( timeStep )
-{
-    init( initialCondition, initialCondition, initialCondition );
-}
-/*===========================================================================*/
-bool integrator::setSaturation( const real_t minV,
-                                const real_t maxV ) noexcept
+bool nState::setSaturation( const real_t minV,
+                            const real_t maxV ) noexcept
 {
     bool retValue = false;
 
     if ( maxV > minV ) {
-        min = minV;
-        max = maxV;
+        vmin = minV;
+        vmax = maxV;
         retValue = true;
     }
     return retValue;
 }
 /*===========================================================================*/
+integrator::integrator(const real_t timeStep, const real_t initialCondition )
+    : dt( timeStep )
+{
+    init( initialCondition, initialCondition, initialCondition );
+}
+/*===========================================================================*/
 real_t integrator::operator()( const real_t xDot )
 {
-    real_t xt;
-
-    xt = integrate( xDot, dt );
-    if ( xt > max ) {
-        xt = max;
-    }
-    else if ( xt < min ) {
-        xt = min;
-    }
-    else {
-        /*nothing to do*/
-    }
-
-    return xt;
+    return integrate( xDot, dt );
 }
 /*===========================================================================*/
 real_t integrator::operator()() const

src/qlibs.h

@@ -1,7 +1,7 @@
 /*!
  * @file qlibs.h
  * @author J. Camilo Gomez C.
- * @version 1.4.0
+ * @version 1.4.1
  * @note This file is part of the qlibs++ distribution.
  * @brief Global inclusion header
  **/
@@ -41,8 +41,8 @@ This file is part of the QuarkTS++ OS distribution.
 #ifndef QLIBS_CPP_H
 #define QLIBS_CPP_H
 
-    #define QLIBS_CPP_VERSION         "1.4.0"
-    #define QLIBS_CPP_VERNUM          ( 140 )
+    #define QLIBS_CPP_VERSION         "1.4.1"
+    #define QLIBS_CPP_VERNUM          ( 141 )
     #define QLIBS_CPP_CAPTION         "qLibs++ " QLIBS_CPP_VERSION
 
     #include <include/qlibs_types.hpp>
@@ -62,7 +62,7 @@ This file is part of the QuarkTS++ OS distribution.
 
     namespace qlibs {
         namespace build {
-            constexpr const uint32_t number = 2458;
+            constexpr const uint32_t number = 2462;
             constexpr const char* date = __DATE__;
             constexpr const char* time = __TIME__;
             constexpr const char* std = "c++11";
@@ -72,7 +72,7 @@ This file is part of the QuarkTS++ OS distribution.
             constexpr const uint8_t number = QLIBS_CPP_VERNUM;
             constexpr const uint8_t mayor = 1U;
             constexpr const uint8_t minor = 4U;
-            constexpr const uint8_t rev = 0U;
+            constexpr const uint8_t rev = 1U;
         }
         namespace product {
             constexpr const char* author = "J. Camilo Gomez C.";