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108<div class="title">Pid.h</div> </div>
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110<div class="contents">
111<a href="_pid_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 PID_H</span></div>
116<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>&#160;<span class="preprocessor">#define PID_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>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;}</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;<span class="keyword">class </span>Pid_impl;</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;<span class="keyword">namespace </span><a class="code" href="namespaceflair.html">flair</a> {</div>
129<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>&#160;<span class="keyword">namespace </span>filter {</div>
130<div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="classflair_1_1filter_1_1_pid.html"> 32</a></span>&#160;<span class="keyword">class </span><a class="code" href="classflair_1_1filter_1_1_pid.html">Pid</a> : <span class="keyword">public</span> <a class="code" href="classflair_1_1filter_1_1_control_law.html">ControlLaw</a> {</div>
131<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>&#160; <span class="keyword">friend</span> class ::Pid_impl;</div>
132<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>&#160;</div>
133<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>&#160;<span class="keyword">public</span>:</div>
134<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>&#160; <a class="code" href="classflair_1_1filter_1_1_pid.html#a6505c295f5e719f1d85620b44c62d619">Pid</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>
135<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>&#160;</div>
136<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>&#160; <a class="code" href="classflair_1_1filter_1_1_pid.html#ab8e08d20453ac21096363f591ac365df">~Pid</a>();</div>
137<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>&#160;</div>
138<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classflair_1_1filter_1_1_pid.html#a41573a79913af95cbb94d30225e913b6">Reset</a>(<span class="keywordtype">void</span>);</div>
139<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>&#160; </div>
140<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>&#160; <span class="keywordtype">float</span> <a class="code" href="classflair_1_1filter_1_1_pid.html#a54ef7c5dc588f52954121e22faf50b92">GetIntegral</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
141<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>&#160;</div>
142<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>&#160;</div>
143<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classflair_1_1filter_1_1_pid.html#a27c025ae6b9a9a192a234ab74e2e6f8b">SetValues</a>(<span class="keywordtype">float</span> p, <span class="keywordtype">float</span> d);</div>
144<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>&#160;</div>
145<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classflair_1_1filter_1_1_pid.html#a8128ecc530ff19abae93027d72d4b5ec">UseDefaultPlot</a>(<span class="keyword">const</span> <a class="code" href="classflair_1_1gui_1_1_layout_position.html">gui::LayoutPosition</a> *position);</div>
146<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>&#160;</div>
147<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>&#160;<span class="keyword">private</span>:</div>
148<div class="line"><a name="l00099"></a><span class="lineno"> 99</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>
149<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>&#160;</div>
150<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>&#160; Pid_impl *pimpl_;</div>
151<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>&#160;};</div>
152<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>&#160;} <span class="comment">// end namespace filter</span></div>
153<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>&#160;} <span class="comment">// end namespace flair</span></div>
154<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>&#160;<span class="preprocessor">#endif // PID_H</span></div>
155<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>
156<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>
157<div class="ttc" id="classflair_1_1filter_1_1_pid_html_a6505c295f5e719f1d85620b44c62d619"><div class="ttname"><a href="classflair_1_1filter_1_1_pid.html#a6505c295f5e719f1d85620b44c62d619">flair::filter::Pid::Pid</a></div><div class="ttdeci">Pid(const gui::LayoutPosition *position, std::string name)</div><div class="ttdoc">Constructor. </div></div>
158<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>
159<div class="ttc" id="classflair_1_1filter_1_1_pid_html_a41573a79913af95cbb94d30225e913b6"><div class="ttname"><a href="classflair_1_1filter_1_1_pid.html#a41573a79913af95cbb94d30225e913b6">flair::filter::Pid::Reset</a></div><div class="ttdeci">void Reset(void)</div><div class="ttdoc">Reset integral. </div></div>
160<div class="ttc" id="classflair_1_1filter_1_1_pid_html_ab8e08d20453ac21096363f591ac365df"><div class="ttname"><a href="classflair_1_1filter_1_1_pid.html#ab8e08d20453ac21096363f591ac365df">flair::filter::Pid::~Pid</a></div><div class="ttdeci">~Pid()</div><div class="ttdoc">Destructor. </div></div>
161<div class="ttc" id="classflair_1_1filter_1_1_pid_html_a8128ecc530ff19abae93027d72d4b5ec"><div class="ttname"><a href="classflair_1_1filter_1_1_pid.html#a8128ecc530ff19abae93027d72d4b5ec">flair::filter::Pid::UseDefaultPlot</a></div><div class="ttdeci">void UseDefaultPlot(const gui::LayoutPosition *position)</div><div class="ttdoc">Use default plot. </div></div>
162<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>
163<div class="ttc" id="classflair_1_1filter_1_1_pid_html"><div class="ttname"><a href="classflair_1_1filter_1_1_pid.html">flair::filter::Pid</a></div><div class="ttdoc">Class defining a PID. </div><div class="ttdef"><b>Definition:</b> Pid.h:32</div></div>
164<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>
165<div class="ttc" id="classflair_1_1filter_1_1_pid_html_a27c025ae6b9a9a192a234ab74e2e6f8b"><div class="ttname"><a href="classflair_1_1filter_1_1_pid.html#a27c025ae6b9a9a192a234ab74e2e6f8b">flair::filter::Pid::SetValues</a></div><div class="ttdeci">void SetValues(float p, float d)</div><div class="ttdoc">Set input values. </div></div>
166<div class="ttc" id="classflair_1_1filter_1_1_pid_html_a54ef7c5dc588f52954121e22faf50b92"><div class="ttname"><a href="classflair_1_1filter_1_1_pid.html#a54ef7c5dc588f52954121e22faf50b92">flair::filter::Pid::GetIntegral</a></div><div class="ttdeci">float GetIntegral(void) const </div><div class="ttdoc">Get intergral part. </div></div>
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