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108<div class="title">PidThrust.h</div> </div>
109</div><!--header-->
110<div class="contents">
111<a href="_pid_thrust_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 PIDTHRUST_H</span></div>
116<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>&#160;<span class="preprocessor">#define PIDTHRUST_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>PidThrust_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="l00033"></a><span class="lineno"><a class="line" href="classflair_1_1filter_1_1_pid_thrust.html"> 33</a></span>&#160;<span class="keyword">class </span><a class="code" href="classflair_1_1filter_1_1_pid_thrust.html">PidThrust</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="l00034"></a><span class="lineno"> 34</span>&#160; <span class="keyword">friend</span> class ::PidThrust_impl;</div>
132<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>&#160;</div>
133<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>&#160;<span class="keyword">public</span>:</div>
134<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>&#160; <a class="code" href="classflair_1_1filter_1_1_pid_thrust.html#ab46191511449bc44699102a239eb82f6">PidThrust</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="l00049"></a><span class="lineno"> 49</span>&#160;</div>
136<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>&#160; <a class="code" href="classflair_1_1filter_1_1_pid_thrust.html#a0332ced449a5257a484e484379921445">~PidThrust</a>();</div>
137<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>&#160;</div>
138<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classflair_1_1filter_1_1_pid_thrust.html#a4987d6892e567cce5af9b22dcf065542">Reset</a>(<span class="keywordtype">void</span>);</div>
139<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>&#160; </div>
140<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classflair_1_1filter_1_1_pid_thrust.html#ad82440a1c4d9b0409c8549f900991223">ResetI</a>(<span class="keywordtype">void</span>);</div>
141<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>&#160;</div>
142<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classflair_1_1filter_1_1_pid_thrust.html#a240df5714f7ffe4fd2cb7765a21389ee">SetOffset</a>(<span class="keywordtype">float</span> value);</div>
143<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>&#160; </div>
144<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_pid_thrust.html#a5e856db9c472b9ca3b6b69eb54ffa18e">SetDefaultOffset</a>(<span class="keywordtype">void</span>);</div>
145<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>&#160;</div>
146<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>&#160; <span class="keywordtype">float</span> <a class="code" href="classflair_1_1filter_1_1_pid_thrust.html#a746b8f8afd363524b6b84a1fc8d11da2">GetOffset</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
147<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>&#160; </div>
148<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>&#160; <span class="keywordtype">float</span> <a class="code" href="classflair_1_1filter_1_1_pid_thrust.html#a35d8c2f7a19faaae43b3a6d2d3cc211a">GetIntegral</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
149<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>&#160;</div>
150<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>&#160; <span class="keywordtype">bool</span> <a class="code" href="classflair_1_1filter_1_1_pid_thrust.html#ac556b3702ad3352fdfad1bde19f16af0">OffsetStepUp</a>(<span class="keywordtype">void</span>);</div>
151<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>&#160;</div>
152<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>&#160; <span class="keywordtype">bool</span> <a class="code" href="classflair_1_1filter_1_1_pid_thrust.html#ac3810b92073bc3e5062a387e089b2295">OffsetStepDown</a>(<span class="keywordtype">void</span>);</div>
153<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>&#160;</div>
154<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classflair_1_1filter_1_1_pid_thrust.html#afdbec017ebadc52cef7e901ecd92d959">SetValues</a>(<span class="keywordtype">float</span> p, <span class="keywordtype">float</span> d);</div>
155<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>&#160;</div>
156<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classflair_1_1filter_1_1_pid_thrust.html#a8b77f7720b1406f48baa3c43cf87765a">UseDefaultPlot</a>(<span class="keyword">const</span> <a class="code" href="classflair_1_1gui_1_1_layout_position.html">gui::LayoutPosition</a> *position);</div>
157<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>&#160;</div>
158<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>&#160;<span class="keyword">private</span>:</div>
159<div class="line"><a name="l00144"></a><span class="lineno"> 144</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>
160<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>&#160;</div>
161<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>&#160; PidThrust_impl *pimpl_;</div>
162<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>&#160;};</div>
163<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>&#160;} <span class="comment">// end namespace filter</span></div>
164<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>&#160;} <span class="comment">// end namespace flair</span></div>
165<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>&#160;<span class="preprocessor">#endif // PIDTHRUST_H</span></div>
166<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>
167<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>
168<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>
169<div class="ttc" id="classflair_1_1filter_1_1_pid_thrust_html_a240df5714f7ffe4fd2cb7765a21389ee"><div class="ttname"><a href="classflair_1_1filter_1_1_pid_thrust.html#a240df5714f7ffe4fd2cb7765a21389ee">flair::filter::PidThrust::SetOffset</a></div><div class="ttdeci">void SetOffset(float value)</div><div class="ttdoc">Set offset to a specified value. </div></div>
170<div class="ttc" id="classflair_1_1filter_1_1_pid_thrust_html"><div class="ttname"><a href="classflair_1_1filter_1_1_pid_thrust.html">flair::filter::PidThrust</a></div><div class="ttdoc">Class defining a Pid for Thrust. This Pid as an extra offset for compensating gravity. </div><div class="ttdef"><b>Definition:</b> PidThrust.h:33</div></div>
171<div class="ttc" id="classflair_1_1filter_1_1_pid_thrust_html_ac556b3702ad3352fdfad1bde19f16af0"><div class="ttname"><a href="classflair_1_1filter_1_1_pid_thrust.html#ac556b3702ad3352fdfad1bde19f16af0">flair::filter::PidThrust::OffsetStepUp</a></div><div class="ttdeci">bool OffsetStepUp(void)</div><div class="ttdoc">Step up the offset according to specified value in ground station. </div></div>
172<div class="ttc" id="classflair_1_1filter_1_1_pid_thrust_html_a0332ced449a5257a484e484379921445"><div class="ttname"><a href="classflair_1_1filter_1_1_pid_thrust.html#a0332ced449a5257a484e484379921445">flair::filter::PidThrust::~PidThrust</a></div><div class="ttdeci">~PidThrust()</div><div class="ttdoc">Destructor. </div></div>
173<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>
174<div class="ttc" id="classflair_1_1filter_1_1_pid_thrust_html_afdbec017ebadc52cef7e901ecd92d959"><div class="ttname"><a href="classflair_1_1filter_1_1_pid_thrust.html#afdbec017ebadc52cef7e901ecd92d959">flair::filter::PidThrust::SetValues</a></div><div class="ttdeci">void SetValues(float p, float d)</div><div class="ttdoc">Set input values. </div></div>
175<div class="ttc" id="classflair_1_1filter_1_1_pid_thrust_html_ad82440a1c4d9b0409c8549f900991223"><div class="ttname"><a href="classflair_1_1filter_1_1_pid_thrust.html#ad82440a1c4d9b0409c8549f900991223">flair::filter::PidThrust::ResetI</a></div><div class="ttdeci">void ResetI(void)</div><div class="ttdoc">Reset integral to 0. </div></div>
176<div class="ttc" id="classflair_1_1filter_1_1_pid_thrust_html_ac3810b92073bc3e5062a387e089b2295"><div class="ttname"><a href="classflair_1_1filter_1_1_pid_thrust.html#ac3810b92073bc3e5062a387e089b2295">flair::filter::PidThrust::OffsetStepDown</a></div><div class="ttdeci">bool OffsetStepDown(void)</div><div class="ttdoc">Step down the offset according to specified value in ground station. </div></div>
177<div class="ttc" id="classflair_1_1filter_1_1_pid_thrust_html_a746b8f8afd363524b6b84a1fc8d11da2"><div class="ttname"><a href="classflair_1_1filter_1_1_pid_thrust.html#a746b8f8afd363524b6b84a1fc8d11da2">flair::filter::PidThrust::GetOffset</a></div><div class="ttdeci">float GetOffset(void) const </div><div class="ttdoc">Get offset. </div></div>
178<div class="ttc" id="classflair_1_1filter_1_1_pid_thrust_html_ab46191511449bc44699102a239eb82f6"><div class="ttname"><a href="classflair_1_1filter_1_1_pid_thrust.html#ab46191511449bc44699102a239eb82f6">flair::filter::PidThrust::PidThrust</a></div><div class="ttdeci">PidThrust(const gui::LayoutPosition *position, std::string name)</div><div class="ttdoc">Constructor. </div></div>
179<div class="ttc" id="classflair_1_1filter_1_1_pid_thrust_html_a35d8c2f7a19faaae43b3a6d2d3cc211a"><div class="ttname"><a href="classflair_1_1filter_1_1_pid_thrust.html#a35d8c2f7a19faaae43b3a6d2d3cc211a">flair::filter::PidThrust::GetIntegral</a></div><div class="ttdeci">float GetIntegral(void) const </div><div class="ttdoc">Get intergral part. </div></div>
180<div class="ttc" id="classflair_1_1filter_1_1_pid_thrust_html_a4987d6892e567cce5af9b22dcf065542"><div class="ttname"><a href="classflair_1_1filter_1_1_pid_thrust.html#a4987d6892e567cce5af9b22dcf065542">flair::filter::PidThrust::Reset</a></div><div class="ttdeci">void Reset(void)</div><div class="ttdoc">Reset the control law equivalent to: ResetI(); SetDefaultOffset(); SetValues(0,0);. </div></div>
181<div class="ttc" id="classflair_1_1filter_1_1_pid_thrust_html_a5e856db9c472b9ca3b6b69eb54ffa18e"><div class="ttname"><a href="classflair_1_1filter_1_1_pid_thrust.html#a5e856db9c472b9ca3b6b69eb54ffa18e">flair::filter::PidThrust::SetDefaultOffset</a></div><div class="ttdeci">void SetDefaultOffset(void)</div><div class="ttdoc">Set offset to specified value in ground station. </div></div>
182<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>
183<div class="ttc" id="classflair_1_1filter_1_1_pid_thrust_html_a8b77f7720b1406f48baa3c43cf87765a"><div class="ttname"><a href="classflair_1_1filter_1_1_pid_thrust.html#a8b77f7720b1406f48baa3c43cf87765a">flair::filter::PidThrust::UseDefaultPlot</a></div><div class="ttdeci">void UseDefaultPlot(const gui::LayoutPosition *position)</div><div class="ttdoc">Use default plot. </div></div>
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