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107  <div class="headertitle">
108<div class="title">ControlLaw.h</div>  </div>
109</div><!--header-->
110<div class="contents">
111<a href="_control_law_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// %flair:license{</span></div>
112<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// This file is part of the Flair framework distributed under the</span></div>
113<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// CECILL-C License, Version 1.0.</span></div>
114<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">// %flair:license}</span></div>
115<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"></span><span class="preprocessor">#ifndef CONTROLLAW_H</span></div>
116<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#define CONTROLLAW_H</span></div>
117<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;</div>
118<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="_i_o_device_8h.html">IODevice.h</a>&gt;</span></div>
119<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;</div>
[23]120<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceflair.html">flair</a> {</div>
[14]121<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="keyword">namespace </span>gui {</div>
122<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="keyword">class </span>LayoutPosition;</div>
123<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;}</div>
124<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="keyword">namespace </span>core {</div>
125<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="keyword">class </span>cvmatrix;</div>
126<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;}</div>
127<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;}</div>
128<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div>
[23]129<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceflair.html">flair</a> {</div>
[14]130<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="keyword">namespace </span>filter {</div>
131<div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="classflair_1_1filter_1_1_control_law.html">   36</a></span>&#160;<span class="keyword">class </span><a class="code" href="classflair_1_1filter_1_1_control_law.html">ControlLaw</a> : <span class="keyword">public</span> <a class="code" href="classflair_1_1core_1_1_i_o_device.html">core::IODevice</a> {</div>
132<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="keyword">public</span>:</div>
133<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <a class="code" href="classflair_1_1filter_1_1_control_law.html#abd6d4ee32a9e01a2d1b0513a0aadafcb">ControlLaw</a>(<span class="keyword">const</span> <a class="code" href="classflair_1_1core_1_1_object.html">core::Object</a> *parent, std::string name, uint32_t nb_out = 1);</div>
134<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;</div>
135<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <a class="code" href="classflair_1_1filter_1_1_control_law.html#a62210ace4d3338cbc528ed712e72ac27">~ControlLaw</a>();</div>
136<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;</div>
137<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <span class="keywordtype">float</span> <a class="code" href="classflair_1_1filter_1_1_control_law.html#ace241d108bd0213135dbd6a5a561d0cf">Output</a>(uint32_t index = 0) <span class="keyword">const</span>;</div>
138<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div>
139<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classflair_1_1filter_1_1_control_law.html#a3c42c9c7ae276e10d2ebad3a6701210d">UseDefaultPlot</a>(<span class="keyword">const</span> <a class="code" href="classflair_1_1gui_1_1_layout_position.html">gui::LayoutPosition</a> *position);</div>
140<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;</div>
141<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classflair_1_1filter_1_1_control_law.html#a228f8bf6857d96fa015bec9e016d2132">Update</a>(<a class="code" href="namespaceflair_1_1core.html#acc0fa041e08ecf73b2d1d723c339a736">core::Time</a> time);</div>
142<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;</div>
143<div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="classflair_1_1filter_1_1_control_law.html#a0892ecd37930c5d92a41449ab6fa1f10">   93</a></span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classflair_1_1filter_1_1_control_law.html#a0892ecd37930c5d92a41449ab6fa1f10">Reset</a>(){};</div>
144<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;</div>
145<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;<span class="keyword">protected</span>:</div>
146<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  <a class="code" href="classflair_1_1core_1_1cvmatrix.html">core::cvmatrix</a> *<a class="code" href="classflair_1_1filter_1_1_control_law.html#a9877d488ad17a52affd8c68beca426d1">input</a>;</div>
147<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;</div>
148<div class="line"><a name="l00111"></a><span class="lineno"><a class="line" href="classflair_1_1filter_1_1_control_law.html#aad8a67d158a1eda16ed53615e2511f97">  111</a></span>&#160;  <a class="code" href="classflair_1_1core_1_1cvmatrix.html">core::cvmatrix</a> *<a class="code" href="classflair_1_1filter_1_1_control_law.html#aad8a67d158a1eda16ed53615e2511f97">output</a>;</div>
149<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;</div>
150<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;<span class="keyword">private</span>:</div>
151<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> UpdateFrom(<span class="keyword">const</span> <a class="code" href="classflair_1_1core_1_1io__data.html">core::io_data</a> *data) = 0;</div>
152<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;};</div>
153<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;} <span class="comment">// end namespace filter</span></div>
154<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;} <span class="comment">// end namespace flair</span></div>
155<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;<span class="preprocessor">#endif // CONTROLLAW_H</span></div>
[32]156<div class="ttc" id="classflair_1_1core_1_1io__data_html"><div class="ttname"><a href="classflair_1_1core_1_1io__data.html">flair::core::io_data</a></div><div class="ttdoc">Abstract class for data types. </div><div class="ttdef"><b>Definition:</b> io_data.h:94</div></div>
[14]157<div class="ttc" id="classflair_1_1filter_1_1_control_law_html"><div class="ttname"><a href="classflair_1_1filter_1_1_control_law.html">flair::filter::ControlLaw</a></div><div class="ttdoc">Base class for control law input must be created by reimplemented class. output is created by this cl...</div><div class="ttdef"><b>Definition:</b> ControlLaw.h:36</div></div>
158<div class="ttc" id="classflair_1_1filter_1_1_control_law_html_a228f8bf6857d96fa015bec9e016d2132"><div class="ttname"><a href="classflair_1_1filter_1_1_control_law.html#a228f8bf6857d96fa015bec9e016d2132">flair::filter::ControlLaw::Update</a></div><div class="ttdeci">void Update(core::Time time)</div><div class="ttdoc">Update using provided datas. </div></div>
159<div class="ttc" id="classflair_1_1core_1_1_object_html"><div class="ttname"><a href="classflair_1_1core_1_1_object.html">flair::core::Object</a></div><div class="ttdoc">Base class for all Framework&#39;s classes. </div><div class="ttdef"><b>Definition:</b> Object.h:77</div></div>
160<div class="ttc" id="classflair_1_1core_1_1_i_o_device_html"><div class="ttname"><a href="classflair_1_1core_1_1_i_o_device.html">flair::core::IODevice</a></div><div class="ttdoc">Abstract class for input/ouput system. </div><div class="ttdef"><b>Definition:</b> IODevice.h:44</div></div>
[23]161<div class="ttc" id="namespaceflair_html"><div class="ttname"><a href="namespaceflair.html">flair</a></div><div class="ttdoc">namespace of the flair Framework </div><div class="ttdef"><b>Definition:</b> Ahrs.h:19</div></div>
[14]162<div class="ttc" id="classflair_1_1core_1_1cvmatrix_html"><div class="ttname"><a href="classflair_1_1core_1_1cvmatrix.html">flair::core::cvmatrix</a></div><div class="ttdoc">Class defining a matrix of kind CvMat. </div><div class="ttdef"><b>Definition:</b> cvmatrix.h:33</div></div>
163<div class="ttc" id="classflair_1_1filter_1_1_control_law_html_a62210ace4d3338cbc528ed712e72ac27"><div class="ttname"><a href="classflair_1_1filter_1_1_control_law.html#a62210ace4d3338cbc528ed712e72ac27">flair::filter::ControlLaw::~ControlLaw</a></div><div class="ttdeci">~ControlLaw()</div><div class="ttdoc">Destructor. </div></div>
164<div class="ttc" id="namespaceflair_1_1core_html_acc0fa041e08ecf73b2d1d723c339a736"><div class="ttname"><a href="namespaceflair_1_1core.html#acc0fa041e08ecf73b2d1d723c339a736">flair::core::Time</a></div><div class="ttdeci">unsigned long long Time</div><div class="ttdoc">Time definition, in ns. </div><div class="ttdef"><b>Definition:</b> Object.h:49</div></div>
165<div class="ttc" id="classflair_1_1filter_1_1_control_law_html_a9877d488ad17a52affd8c68beca426d1"><div class="ttname"><a href="classflair_1_1filter_1_1_control_law.html#a9877d488ad17a52affd8c68beca426d1">flair::filter::ControlLaw::input</a></div><div class="ttdeci">core::cvmatrix * input</div><div class="ttdoc">input matrix </div><div class="ttdef"><b>Definition:</b> ControlLaw.h:93</div></div>
166<div class="ttc" id="classflair_1_1filter_1_1_control_law_html_aad8a67d158a1eda16ed53615e2511f97"><div class="ttname"><a href="classflair_1_1filter_1_1_control_law.html#aad8a67d158a1eda16ed53615e2511f97">flair::filter::ControlLaw::output</a></div><div class="ttdeci">core::cvmatrix * output</div><div class="ttdoc">output matrix </div><div class="ttdef"><b>Definition:</b> ControlLaw.h:111</div></div>
167<div class="ttc" id="_i_o_device_8h_html"><div class="ttname"><a href="_i_o_device_8h.html">IODevice.h</a></div><div class="ttdoc">Abstract class for input/ouput system. </div></div>
168<div class="ttc" id="classflair_1_1filter_1_1_control_law_html_abd6d4ee32a9e01a2d1b0513a0aadafcb"><div class="ttname"><a href="classflair_1_1filter_1_1_control_law.html#abd6d4ee32a9e01a2d1b0513a0aadafcb">flair::filter::ControlLaw::ControlLaw</a></div><div class="ttdeci">ControlLaw(const core::Object *parent, std::string name, uint32_t nb_out=1)</div><div class="ttdoc">Constructor. </div></div>
169<div class="ttc" id="classflair_1_1filter_1_1_control_law_html_ace241d108bd0213135dbd6a5a561d0cf"><div class="ttname"><a href="classflair_1_1filter_1_1_control_law.html#ace241d108bd0213135dbd6a5a561d0cf">flair::filter::ControlLaw::Output</a></div><div class="ttdeci">float Output(uint32_t index=0) const </div><div class="ttdoc">Output value. </div></div>
170<div class="ttc" id="classflair_1_1filter_1_1_control_law_html_a3c42c9c7ae276e10d2ebad3a6701210d"><div class="ttname"><a href="classflair_1_1filter_1_1_control_law.html#a3c42c9c7ae276e10d2ebad3a6701210d">flair::filter::ControlLaw::UseDefaultPlot</a></div><div class="ttdeci">virtual void UseDefaultPlot(const gui::LayoutPosition *position)</div><div class="ttdoc">Use default plot. </div></div>
171<div class="ttc" id="classflair_1_1gui_1_1_layout_position_html"><div class="ttname"><a href="classflair_1_1gui_1_1_layout_position.html">flair::gui::LayoutPosition</a></div><div class="ttdoc">Class to define a position in a layout on the ground station. </div><div class="ttdef"><b>Definition:</b> LayoutPosition.h:28</div></div>
172<div class="ttc" id="classflair_1_1filter_1_1_control_law_html_a0892ecd37930c5d92a41449ab6fa1f10"><div class="ttname"><a href="classflair_1_1filter_1_1_control_law.html#a0892ecd37930c5d92a41449ab6fa1f10">flair::filter::ControlLaw::Reset</a></div><div class="ttdeci">virtual void Reset()</div><div class="ttdoc">Reset the internal state of the control law. </div><div class="ttdef"><b>Definition:</b> ControlLaw.h:93</div></div>
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