TWMATH

! In heavy developement ! ! developement has been stalled in favour of my plotting library, that this project will depend on: https://github.com/TobiasWallner/plotpp !

A library for controll systems engineering that brings transfere functions, laplace variables, and complex system analysis to C++. This will allow you to devolpe and analyse and test the exact same code on your PC that will later run on your micro-processor.

// develope controll systems with the complex laplace variable 's'
const auto s = tf::s;
const auto G = (1.f) / (1 + s + s*s);

// transform the transfere function into its matrix system form
const auto Gsys = c_state_space(G);

// discretise the system
// for example to the smaple rate of your ADC
// uses exact zero-order-hold discretisation
const auto Gsys_d = discretise(Gsys, 0.01);

// plot your calculations 
// (for plotting: see my other library https://github.com/TobiasWallner/plotpp)
const auto ts = stepplot(Gsys_d, 20);

// save the stepplot
std::ofstream file("step.csv");
file << "t, value" << std::endl;
file << ts << std::endl;

Resulting plot of: G = (1.f) / (1 + s + s*s)

Linear Algebra

Static Vector

A vector with static fixed size and capacity that is stored on the stack. Used for small vectors of fixed size.

Hybrid Vector

A vector with dynamic size and fixed capacity that is stored on the stack. Used for small vectors of variing size.

Dynamic Vector

A vector with dynamic size and capacity that is allocated on the heap. Used for large vectors.

Static Vector

A vector with static fixed size and capacity that is stored on the stack. Used for small vectors of fixed size.

Hybrid Vector

A vector with dynamic size and fixed capacity that is stored on the stack. Used for small vectors of variing size.

Dynamic Vector

A vector with dynamic size and capacity that is allocated on the heap. Used for large vectors.

Polynomials

Polynomial

Rational Polynomial

Controll Systems

Continuous Transfer Function

Discrete Transfer Function

Continuous State Space Systems

Discrete State Space Systems

System Analysis

Error Management

By default assertions are on, that check for example if an element access is within the allocated storage size (Aka.: Out of bounds access, buffer bverflow). This, however, has an impact on performance. To increase performance those assertions can be disables by compiling with the definition: DISABLE_TWMATH_ASSERTIONS.

target_compile_definitions(${PROJECT_NAME} PUBLIC
	DISABLE_TWMATH_ASSERTIONS
	...
)

Customise the behaviour of the error management can be customised with the following definitions. Select only one!

• `TWMATH_THROW´ default throws an exception of type runtime error with a message descibeing the failed assertion.
• TWMATH_EXIT calls exit(-1) to exit the program (customiseable error output stream)
• TWMATH_TRAP traps the execution in a while loop (customiseable error output stream)
• TWMATH_CUSTOM_ERROR_HANDLER calls the user defined function: 'void twmath_custom_error_handler(const char* error_message)'

target_compile_definitions(${PROJECT_NAME} PUBLIC
	TWMATH_THROW|TWMATH_EXIT|TWMATH_TRAP|TWMATH_CUSTOM_ERROR_HANDLER
	...
)

Furthermore you can define the error output stream that should be used when TWMATH_EXIT or TWMATH_TRAP is selected. The default is: TWMATH_CERR std::cout.

target_compile_definitions(${PROJECT_NAME} PUBLIC
	TWMATH_CERR my::cerr
	...
)