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108<div class="title">NestedSat.h</div> </div>
109</div><!--header-->
110<div class="contents">
111<a href="_nested_sat_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 NESTEDSAT_H</span></div>
116<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>&#160;<span class="preprocessor">#define NESTEDSAT_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="_control_law_8h.html">ControlLaw.h</a>&gt;</span></div>
119<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>&#160;</div>
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>
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>Layout;</div>
123<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>&#160;<span class="keyword">class </span>LayoutPosition;</div>
124<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>&#160;}</div>
125<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>&#160;}</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;<span class="keyword">class </span>NestedSat_impl;</div>
128<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>&#160;</div>
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>
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="l00043"></a><span class="lineno"><a class="line" href="classflair_1_1filter_1_1_nested_sat.html"> 43</a></span>&#160;<span class="keyword">class </span><a class="code" href="classflair_1_1filter_1_1_nested_sat.html">NestedSat</a> : <span class="keyword">public</span> <a class="code" href="classflair_1_1filter_1_1_control_law.html">ControlLaw</a> {</div>
132<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>&#160; <span class="keyword">friend</span> class ::NestedSat_impl;</div>
133<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>&#160;</div>
134<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>&#160;<span class="keyword">public</span>:</div>
135<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>&#160; <a class="code" href="classflair_1_1filter_1_1_nested_sat.html#a9a3ffb0952adc785f5b3f1e92d1a02cd">NestedSat</a>(<span class="keyword">const</span> <a class="code" href="classflair_1_1gui_1_1_layout_position.html">gui::LayoutPosition</a> *position, std::string name);</div>
136<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>&#160;</div>
137<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>&#160; <a class="code" href="classflair_1_1filter_1_1_nested_sat.html#a899e174f442b871ecf4000f720fb11e9">~NestedSat</a>();</div>
138<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>&#160;</div>
139<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classflair_1_1filter_1_1_nested_sat.html#a327a0a6562f638c4c4c7b9d14053cab4">SetValues</a>(<span class="keywordtype">float</span> p_ref, <span class="keywordtype">float</span> p, <span class="keywordtype">float</span> d);</div>
140<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>&#160;</div>
141<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classflair_1_1filter_1_1_nested_sat.html#a828d39a93d7e31ae92f82f52fbea6c73">ConvertSatFromDegToRad</a>(<span class="keywordtype">void</span>);</div>
142<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>&#160;</div>
143<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>&#160;<span class="keyword">private</span>:</div>
144<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>&#160; <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);</div>
145<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>&#160;</div>
146<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>&#160; NestedSat_impl *pimpl_;</div>
147<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>&#160;};</div>
148<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>&#160;} <span class="comment">// end namespace filter</span></div>
149<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>&#160;} <span class="comment">// end namespace flair</span></div>
150<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>&#160;<span class="preprocessor">#endif // NESTEDSAT_H</span></div>
151<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>
152<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>
153<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>
154<div class="ttc" id="classflair_1_1filter_1_1_nested_sat_html_a899e174f442b871ecf4000f720fb11e9"><div class="ttname"><a href="classflair_1_1filter_1_1_nested_sat.html#a899e174f442b871ecf4000f720fb11e9">flair::filter::NestedSat::~NestedSat</a></div><div class="ttdeci">~NestedSat()</div><div class="ttdoc">Destructor. </div></div>
155<div class="ttc" id="classflair_1_1filter_1_1_nested_sat_html_a9a3ffb0952adc785f5b3f1e92d1a02cd"><div class="ttname"><a href="classflair_1_1filter_1_1_nested_sat.html#a9a3ffb0952adc785f5b3f1e92d1a02cd">flair::filter::NestedSat::NestedSat</a></div><div class="ttdeci">NestedSat(const gui::LayoutPosition *position, std::string name)</div><div class="ttdoc">Constructor. </div></div>
156<div class="ttc" id="_control_law_8h_html"><div class="ttname"><a href="_control_law_8h.html">ControlLaw.h</a></div><div class="ttdoc">Base class for control law. </div></div>
157<div class="ttc" id="classflair_1_1filter_1_1_nested_sat_html_a327a0a6562f638c4c4c7b9d14053cab4"><div class="ttname"><a href="classflair_1_1filter_1_1_nested_sat.html#a327a0a6562f638c4c4c7b9d14053cab4">flair::filter::NestedSat::SetValues</a></div><div class="ttdeci">void SetValues(float p_ref, float p, float d)</div><div class="ttdoc">Set input values. </div></div>
158<div class="ttc" id="classflair_1_1filter_1_1_nested_sat_html"><div class="ttname"><a href="classflair_1_1filter_1_1_nested_sat.html">flair::filter::NestedSat</a></div><div class="ttdoc">Class defining a PID with saturations. </div><div class="ttdef"><b>Definition:</b> NestedSat.h:43</div></div>
159<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>
160<div class="ttc" id="classflair_1_1filter_1_1_nested_sat_html_a828d39a93d7e31ae92f82f52fbea6c73"><div class="ttname"><a href="classflair_1_1filter_1_1_nested_sat.html#a828d39a93d7e31ae92f82f52fbea6c73">flair::filter::NestedSat::ConvertSatFromDegToRad</a></div><div class="ttdeci">void ConvertSatFromDegToRad(void)</div><div class="ttdoc">Convert saturation parameters in radians. </div></div>
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