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108  <div class="summary">
109<a href="#pub-methods">Public Member Functions</a> &#124;
110<a href="#pro-attribs">Protected Attributes</a> &#124;
111<a href="classflair_1_1filter_1_1_control_law-members.html">List of all members</a>  </div>
112  <div class="headertitle">
113<div class="title">flair::filter::ControlLaw Class Reference<span class="mlabels"><span class="mlabel">abstract</span></span></div>  </div>
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116
117<p>Base class for control law input must be created by reimplemented class.<br />
118output is created by this class, it is of size (nb_out,1) and type float.<br />
119see constructor for nb_out. 
120 <a href="classflair_1_1filter_1_1_control_law.html#details">More...</a></p>
121
122<p><code>#include &lt;<a class="el" href="_control_law_8h_source.html">ControlLaw.h</a>&gt;</code></p>
123<div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
124  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Inheritance diagram for flair::filter::ControlLaw:</div>
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126</div>
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128 <div class="center">
129  <img src="classflair_1_1filter_1_1_control_law.png" usemap="#flair::filter::ControlLaw_map" alt=""/>
130  <map id="flair::filter::ControlLaw_map" name="flair::filter::ControlLaw_map">
131<area href="classflair_1_1core_1_1_i_o_device.html" title="Abstract class for input/ouput system. " alt="flair::core::IODevice" shape="rect" coords="145,56,280,80"/>
132<area href="classflair_1_1core_1_1_object.html" title="Base class for all Framework&#39;s classes. " alt="flair::core::Object" shape="rect" coords="145,0,280,24"/>
133<area href="classflair_1_1filter_1_1_nested_sat.html" title="Class defining a PID with saturations. " alt="flair::filter::NestedSat" shape="rect" coords="0,168,135,192"/>
134<area href="classflair_1_1filter_1_1_pid.html" title="Class defining a PID. " alt="flair::filter::Pid" shape="rect" coords="145,168,280,192"/>
135<area href="classflair_1_1filter_1_1_pid_thrust.html" title="Class defining a Pid for Thrust. This Pid as an extra offset for compensating gravity. " alt="flair::filter::PidThrust" shape="rect" coords="290,168,425,192"/>
136</map>
137 </div></div>
138<table class="memberdecls">
139<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
140Public Member Functions</h2></td></tr>
141<tr class="memitem:abd6d4ee32a9e01a2d1b0513a0aadafcb"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1filter_1_1_control_law.html#abd6d4ee32a9e01a2d1b0513a0aadafcb">ControlLaw</a> (const <a class="el" href="classflair_1_1core_1_1_object.html">core::Object</a> *parent, std::string name, uint32_t nb_out=1)</td></tr>
142<tr class="memdesc:abd6d4ee32a9e01a2d1b0513a0aadafcb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor.  <a href="#abd6d4ee32a9e01a2d1b0513a0aadafcb">More...</a><br /></td></tr>
143<tr class="separator:abd6d4ee32a9e01a2d1b0513a0aadafcb"><td class="memSeparator" colspan="2">&#160;</td></tr>
144<tr class="memitem:a62210ace4d3338cbc528ed712e72ac27"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1filter_1_1_control_law.html#a62210ace4d3338cbc528ed712e72ac27">~ControlLaw</a> ()</td></tr>
145<tr class="memdesc:a62210ace4d3338cbc528ed712e72ac27"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor.  <a href="#a62210ace4d3338cbc528ed712e72ac27">More...</a><br /></td></tr>
146<tr class="separator:a62210ace4d3338cbc528ed712e72ac27"><td class="memSeparator" colspan="2">&#160;</td></tr>
147<tr class="memitem:ace241d108bd0213135dbd6a5a561d0cf"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1filter_1_1_control_law.html#ace241d108bd0213135dbd6a5a561d0cf">Output</a> (uint32_t index=0) const </td></tr>
148<tr class="memdesc:ace241d108bd0213135dbd6a5a561d0cf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Output value.  <a href="#ace241d108bd0213135dbd6a5a561d0cf">More...</a><br /></td></tr>
149<tr class="separator:ace241d108bd0213135dbd6a5a561d0cf"><td class="memSeparator" colspan="2">&#160;</td></tr>
150<tr class="memitem:a3c42c9c7ae276e10d2ebad3a6701210d"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1filter_1_1_control_law.html#a3c42c9c7ae276e10d2ebad3a6701210d">UseDefaultPlot</a> (const <a class="el" href="classflair_1_1gui_1_1_layout_position.html">gui::LayoutPosition</a> *position)</td></tr>
151<tr class="memdesc:a3c42c9c7ae276e10d2ebad3a6701210d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Use default plot.  <a href="#a3c42c9c7ae276e10d2ebad3a6701210d">More...</a><br /></td></tr>
152<tr class="separator:a3c42c9c7ae276e10d2ebad3a6701210d"><td class="memSeparator" colspan="2">&#160;</td></tr>
153<tr class="memitem:a228f8bf6857d96fa015bec9e016d2132"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1filter_1_1_control_law.html#a228f8bf6857d96fa015bec9e016d2132">Update</a> (<a class="el" href="namespaceflair_1_1core.html#acc0fa041e08ecf73b2d1d723c339a736">core::Time</a> time)</td></tr>
154<tr class="memdesc:a228f8bf6857d96fa015bec9e016d2132"><td class="mdescLeft">&#160;</td><td class="mdescRight">Update using provided datas.  <a href="#a228f8bf6857d96fa015bec9e016d2132">More...</a><br /></td></tr>
155<tr class="separator:a228f8bf6857d96fa015bec9e016d2132"><td class="memSeparator" colspan="2">&#160;</td></tr>
156<tr class="memitem:a0892ecd37930c5d92a41449ab6fa1f10"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1filter_1_1_control_law.html#a0892ecd37930c5d92a41449ab6fa1f10">Reset</a> ()</td></tr>
157<tr class="memdesc:a0892ecd37930c5d92a41449ab6fa1f10"><td class="mdescLeft">&#160;</td><td class="mdescRight">Reset the internal state of the control law.  <a href="#a0892ecd37930c5d92a41449ab6fa1f10">More...</a><br /></td></tr>
158<tr class="separator:a0892ecd37930c5d92a41449ab6fa1f10"><td class="memSeparator" colspan="2">&#160;</td></tr>
159<tr class="inherit_header pub_methods_classflair_1_1core_1_1_i_o_device"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classflair_1_1core_1_1_i_o_device')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classflair_1_1core_1_1_i_o_device.html">flair::core::IODevice</a></td></tr>
160<tr class="memitem:a9693b497752b466891eaafeb34bec4d3 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_i_o_device.html#a9693b497752b466891eaafeb34bec4d3">IODevice</a> (const <a class="el" href="classflair_1_1core_1_1_object.html">Object</a> *parent, std::string name)</td></tr>
161<tr class="memdesc:a9693b497752b466891eaafeb34bec4d3 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor.  <a href="#a9693b497752b466891eaafeb34bec4d3">More...</a><br /></td></tr>
162<tr class="separator:a9693b497752b466891eaafeb34bec4d3 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="memSeparator" colspan="2">&#160;</td></tr>
163<tr class="memitem:a05246988b486def40926d8491e1bcc5f inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_i_o_device.html#a05246988b486def40926d8491e1bcc5f">~IODevice</a> ()</td></tr>
164<tr class="memdesc:a05246988b486def40926d8491e1bcc5f inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor.  <a href="#a05246988b486def40926d8491e1bcc5f">More...</a><br /></td></tr>
165<tr class="separator:a05246988b486def40926d8491e1bcc5f inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="memSeparator" colspan="2">&#160;</td></tr>
166<tr class="memitem:af7b42de6bb3893df860063228b55c229 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_i_o_device.html#af7b42de6bb3893df860063228b55c229">AddDeviceToLog</a> (const <a class="el" href="classflair_1_1core_1_1_i_o_device.html">IODevice</a> *device)</td></tr>
167<tr class="memdesc:af7b42de6bb3893df860063228b55c229 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add an <a class="el" href="classflair_1_1core_1_1_i_o_device.html" title="Abstract class for input/ouput system. ">IODevice</a> to the logs.  <a href="#af7b42de6bb3893df860063228b55c229">More...</a><br /></td></tr>
168<tr class="separator:af7b42de6bb3893df860063228b55c229 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="memSeparator" colspan="2">&#160;</td></tr>
169<tr class="memitem:a2e0b7af75abdbf39843d8bf2e45f08b9 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_i_o_device.html#a2e0b7af75abdbf39843d8bf2e45f08b9">AddDataToLog</a> (const <a class="el" href="classflair_1_1core_1_1io__data.html">io_data</a> *data)</td></tr>
170<tr class="memdesc:a2e0b7af75abdbf39843d8bf2e45f08b9 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add an <a class="el" href="classflair_1_1core_1_1io__data.html" title="Abstract class for data types. ">io_data</a> to the log.  <a href="#a2e0b7af75abdbf39843d8bf2e45f08b9">More...</a><br /></td></tr>
171<tr class="separator:a2e0b7af75abdbf39843d8bf2e45f08b9 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="memSeparator" colspan="2">&#160;</td></tr>
172<tr class="memitem:a12d811c6926fb86da6b47f889109da66 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_i_o_device.html#a12d811c6926fb86da6b47f889109da66">OutputToShMem</a> (bool enabled)</td></tr>
173<tr class="memdesc:a12d811c6926fb86da6b47f889109da66 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="mdescLeft">&#160;</td><td class="mdescRight">Send the output to a shared memory.  <a href="#a12d811c6926fb86da6b47f889109da66">More...</a><br /></td></tr>
174<tr class="separator:a12d811c6926fb86da6b47f889109da66 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="memSeparator" colspan="2">&#160;</td></tr>
175<tr class="memitem:a75e82ca2ae2fb7c39d973dd3d16bc698 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a75e82ca2ae2fb7c39d973dd3d16bc698"></a>
176virtual <a class="el" href="classflair_1_1core_1_1_data_type.html">DataType</a> const &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>GetInputDataType</b> () const </td></tr>
177<tr class="separator:a75e82ca2ae2fb7c39d973dd3d16bc698 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="memSeparator" colspan="2">&#160;</td></tr>
178<tr class="memitem:aa325be57d48b268006120dde75dd65cc inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa325be57d48b268006120dde75dd65cc"></a>
179virtual <a class="el" href="classflair_1_1core_1_1_data_type.html">DataType</a> const &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>GetOutputDataType</b> () const </td></tr>
180<tr class="separator:aa325be57d48b268006120dde75dd65cc inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="memSeparator" colspan="2">&#160;</td></tr>
181<tr class="inherit_header pub_methods_classflair_1_1core_1_1_object"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classflair_1_1core_1_1_object')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classflair_1_1core_1_1_object.html">flair::core::Object</a></td></tr>
182<tr class="memitem:aec92383fd5bf68d9df10414862b7e95c inherit pub_methods_classflair_1_1core_1_1_object"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_object.html#aec92383fd5bf68d9df10414862b7e95c">Object</a> (const <a class="el" href="classflair_1_1core_1_1_object.html">Object</a> *parent=NULL, std::string name=&quot;&quot;, std::string type=&quot;&quot;)</td></tr>
183<tr class="memdesc:aec92383fd5bf68d9df10414862b7e95c inherit pub_methods_classflair_1_1core_1_1_object"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor.  <a href="#aec92383fd5bf68d9df10414862b7e95c">More...</a><br /></td></tr>
184<tr class="separator:aec92383fd5bf68d9df10414862b7e95c inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
185<tr class="memitem:aa2bde0e6677bbef705c96c93cb06ad09 inherit pub_methods_classflair_1_1core_1_1_object"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_object.html#aa2bde0e6677bbef705c96c93cb06ad09">~Object</a> ()</td></tr>
186<tr class="memdesc:aa2bde0e6677bbef705c96c93cb06ad09 inherit pub_methods_classflair_1_1core_1_1_object"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor.  <a href="#aa2bde0e6677bbef705c96c93cb06ad09">More...</a><br /></td></tr>
187<tr class="separator:aa2bde0e6677bbef705c96c93cb06ad09 inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
188<tr class="memitem:a9b0344dff7e1c05424d9152c8274523a inherit pub_methods_classflair_1_1core_1_1_object"><td class="memItemLeft" align="right" valign="top">std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_object.html#a9b0344dff7e1c05424d9152c8274523a">ObjectName</a> (void) const </td></tr>
189<tr class="memdesc:a9b0344dff7e1c05424d9152c8274523a inherit pub_methods_classflair_1_1core_1_1_object"><td class="mdescLeft">&#160;</td><td class="mdescRight">Name.  <a href="#a9b0344dff7e1c05424d9152c8274523a">More...</a><br /></td></tr>
190<tr class="separator:a9b0344dff7e1c05424d9152c8274523a inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
191<tr class="memitem:a609a250ec037fbcaf8957c8f1dcbfc53 inherit pub_methods_classflair_1_1core_1_1_object"><td class="memItemLeft" align="right" valign="top">std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_object.html#a609a250ec037fbcaf8957c8f1dcbfc53">ObjectType</a> (void) const </td></tr>
192<tr class="memdesc:a609a250ec037fbcaf8957c8f1dcbfc53 inherit pub_methods_classflair_1_1core_1_1_object"><td class="mdescLeft">&#160;</td><td class="mdescRight">Type.  <a href="#a609a250ec037fbcaf8957c8f1dcbfc53">More...</a><br /></td></tr>
193<tr class="separator:a609a250ec037fbcaf8957c8f1dcbfc53 inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
194<tr class="memitem:a360c112cc3017a5152ebf6e84d2efa70 inherit pub_methods_classflair_1_1core_1_1_object"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classflair_1_1core_1_1_object.html">Object</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_object.html#a360c112cc3017a5152ebf6e84d2efa70">Parent</a> (void) const </td></tr>
195<tr class="memdesc:a360c112cc3017a5152ebf6e84d2efa70 inherit pub_methods_classflair_1_1core_1_1_object"><td class="mdescLeft">&#160;</td><td class="mdescRight">Parent.  <a href="#a360c112cc3017a5152ebf6e84d2efa70">More...</a><br /></td></tr>
196<tr class="separator:a360c112cc3017a5152ebf6e84d2efa70 inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
197<tr class="memitem:ae22db4d723ec2d50b3ba48f26a6a770c inherit pub_methods_classflair_1_1core_1_1_object"><td class="memItemLeft" align="right" valign="top">std::vector&lt; const <a class="el" href="classflair_1_1core_1_1_object.html">Object</a> * &gt; *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_object.html#ae22db4d723ec2d50b3ba48f26a6a770c">TypeChilds</a> (void) const </td></tr>
198<tr class="memdesc:ae22db4d723ec2d50b3ba48f26a6a770c inherit pub_methods_classflair_1_1core_1_1_object"><td class="mdescLeft">&#160;</td><td class="mdescRight">Childs of the same type.  <a href="#ae22db4d723ec2d50b3ba48f26a6a770c">More...</a><br /></td></tr>
199<tr class="separator:ae22db4d723ec2d50b3ba48f26a6a770c inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
200<tr class="memitem:a344f81cd35805a9501098bf727ac1a10 inherit pub_methods_classflair_1_1core_1_1_object"><td class="memItemLeft" align="right" valign="top">std::vector&lt; const <a class="el" href="classflair_1_1core_1_1_object.html">Object</a> * &gt; *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_object.html#a344f81cd35805a9501098bf727ac1a10">Childs</a> (void) const </td></tr>
201<tr class="memdesc:a344f81cd35805a9501098bf727ac1a10 inherit pub_methods_classflair_1_1core_1_1_object"><td class="mdescLeft">&#160;</td><td class="mdescRight">Childs.  <a href="#a344f81cd35805a9501098bf727ac1a10">More...</a><br /></td></tr>
202<tr class="separator:a344f81cd35805a9501098bf727ac1a10 inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
203<tr class="memitem:af001feba14fc053aa778e61080a0b4cf inherit pub_methods_classflair_1_1core_1_1_object"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_object.html#af001feba14fc053aa778e61080a0b4cf">Information</a> (const char *function, int line, const char *format,...) const </td></tr>
204<tr class="memdesc:af001feba14fc053aa778e61080a0b4cf inherit pub_methods_classflair_1_1core_1_1_object"><td class="mdescLeft">&#160;</td><td class="mdescRight">Formatted information.  <a href="#af001feba14fc053aa778e61080a0b4cf">More...</a><br /></td></tr>
205<tr class="separator:af001feba14fc053aa778e61080a0b4cf inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
206<tr class="memitem:a168b18451b2ee6126e1e81d452005ff6 inherit pub_methods_classflair_1_1core_1_1_object"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_object.html#a168b18451b2ee6126e1e81d452005ff6">Warning</a> (const char *function, const char *format,...) const </td></tr>
207<tr class="memdesc:a168b18451b2ee6126e1e81d452005ff6 inherit pub_methods_classflair_1_1core_1_1_object"><td class="mdescLeft">&#160;</td><td class="mdescRight">Formatted warning.  <a href="#a168b18451b2ee6126e1e81d452005ff6">More...</a><br /></td></tr>
208<tr class="separator:a168b18451b2ee6126e1e81d452005ff6 inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
209<tr class="memitem:a3ca9694d29ec2b0491739879685df5ca inherit pub_methods_classflair_1_1core_1_1_object"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_object.html#a3ca9694d29ec2b0491739879685df5ca">Error</a> (const char *function, const char *format,...) const </td></tr>
210<tr class="memdesc:a3ca9694d29ec2b0491739879685df5ca inherit pub_methods_classflair_1_1core_1_1_object"><td class="mdescLeft">&#160;</td><td class="mdescRight">Formatted error.  <a href="#a3ca9694d29ec2b0491739879685df5ca">More...</a><br /></td></tr>
211<tr class="separator:a3ca9694d29ec2b0491739879685df5ca inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
212<tr class="memitem:a36cdd7f556e78b1bddd1d1fe4264bb85 inherit pub_methods_classflair_1_1core_1_1_object"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_object.html#a36cdd7f556e78b1bddd1d1fe4264bb85">ErrorOccured</a> (bool recursive=true) const </td></tr>
213<tr class="memdesc:a36cdd7f556e78b1bddd1d1fe4264bb85 inherit pub_methods_classflair_1_1core_1_1_object"><td class="mdescLeft">&#160;</td><td class="mdescRight">Has an errror occured?  <a href="#a36cdd7f556e78b1bddd1d1fe4264bb85">More...</a><br /></td></tr>
214<tr class="separator:a36cdd7f556e78b1bddd1d1fe4264bb85 inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
215</table><table class="memberdecls">
216<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
217Protected Attributes</h2></td></tr>
218<tr class="memitem:a9877d488ad17a52affd8c68beca426d1"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classflair_1_1core_1_1cvmatrix.html">core::cvmatrix</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1filter_1_1_control_law.html#a9877d488ad17a52affd8c68beca426d1">input</a></td></tr>
219<tr class="memdesc:a9877d488ad17a52affd8c68beca426d1"><td class="mdescLeft">&#160;</td><td class="mdescRight">input matrix  <a href="#a9877d488ad17a52affd8c68beca426d1">More...</a><br /></td></tr>
220<tr class="separator:a9877d488ad17a52affd8c68beca426d1"><td class="memSeparator" colspan="2">&#160;</td></tr>
221<tr class="memitem:aad8a67d158a1eda16ed53615e2511f97"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classflair_1_1core_1_1cvmatrix.html">core::cvmatrix</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1filter_1_1_control_law.html#aad8a67d158a1eda16ed53615e2511f97">output</a></td></tr>
222<tr class="memdesc:aad8a67d158a1eda16ed53615e2511f97"><td class="mdescLeft">&#160;</td><td class="mdescRight">output matrix  <a href="#aad8a67d158a1eda16ed53615e2511f97">More...</a><br /></td></tr>
223<tr class="separator:aad8a67d158a1eda16ed53615e2511f97"><td class="memSeparator" colspan="2">&#160;</td></tr>
224</table><table class="memberdecls">
225<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
226Additional Inherited Members</h2></td></tr>
227<tr class="inherit_header pub_types_classflair_1_1core_1_1_object"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classflair_1_1core_1_1_object')"><img src="closed.png" alt="-"/>&#160;Public Types inherited from <a class="el" href="classflair_1_1core_1_1_object.html">flair::core::Object</a></td></tr>
228<tr class="memitem:aed5fccda511f97487040fed29f4efc97 inherit pub_types_classflair_1_1core_1_1_object"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aed5fccda511f97487040fed29f4efc97"></a>enum &#160;</td><td class="memItemRight" valign="bottom"><b>color_t</b> { <b>Auto</b> = 0,
229<b>Red</b> = 31,
230<b>Green</b> = 32,
231<b>Orange</b> = 33
232 }</td></tr>
233<tr class="separator:aed5fccda511f97487040fed29f4efc97 inherit pub_types_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
234<tr class="inherit_header pro_methods_classflair_1_1core_1_1_i_o_device"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classflair_1_1core_1_1_i_o_device')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classflair_1_1core_1_1_i_o_device.html">flair::core::IODevice</a></td></tr>
235<tr class="memitem:a3df9057ae23eb34f1b1dae8e7a4a9efc inherit pro_methods_classflair_1_1core_1_1_i_o_device"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_i_o_device.html#a3df9057ae23eb34f1b1dae8e7a4a9efc">ProcessUpdate</a> (<a class="el" href="classflair_1_1core_1_1io__data.html">io_data</a> *data)</td></tr>
236<tr class="memdesc:a3df9057ae23eb34f1b1dae8e7a4a9efc inherit pro_methods_classflair_1_1core_1_1_i_o_device"><td class="mdescLeft">&#160;</td><td class="mdescRight">Process the childs of type <a class="el" href="classflair_1_1core_1_1_i_o_device.html" title="Abstract class for input/ouput system. ">IODevice</a>, and log if needed.  <a href="#a3df9057ae23eb34f1b1dae8e7a4a9efc">More...</a><br /></td></tr>
237<tr class="separator:a3df9057ae23eb34f1b1dae8e7a4a9efc inherit pro_methods_classflair_1_1core_1_1_i_o_device"><td class="memSeparator" colspan="2">&#160;</td></tr>
238</table>
239<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
240<div class="textblock"><p>Base class for control law input must be created by reimplemented class.<br />
241output is created by this class, it is of size (nb_out,1) and type float.<br />
242see constructor for nb_out. </p>
243</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
244<a class="anchor" id="abd6d4ee32a9e01a2d1b0513a0aadafcb"></a>
245<div class="memitem">
246<div class="memproto">
247      <table class="memname">
248        <tr>
249          <td class="memname">flair::filter::ControlLaw::ControlLaw </td>
250          <td>(</td>
251          <td class="paramtype">const <a class="el" href="classflair_1_1core_1_1_object.html">core::Object</a> *&#160;</td>
252          <td class="paramname"><em>parent</em>, </td>
253        </tr>
254        <tr>
255          <td class="paramkey"></td>
256          <td></td>
257          <td class="paramtype">std::string&#160;</td>
258          <td class="paramname"><em>name</em>, </td>
259        </tr>
260        <tr>
261          <td class="paramkey"></td>
262          <td></td>
263          <td class="paramtype">uint32_t&#160;</td>
264          <td class="paramname"><em>nb_out</em> = <code>1</code>&#160;</td>
265        </tr>
266        <tr>
267          <td></td>
268          <td>)</td>
269          <td></td><td></td>
270        </tr>
271      </table>
272</div><div class="memdoc">
273
274<p>Constructor. </p>
275<p>Construct a <a class="el" href="classflair_1_1filter_1_1_control_law.html" title="Base class for control law input must be created by reimplemented class. output is created by this cl...">ControlLaw</a></p>
276<dl class="params"><dt>Parameters</dt><dd>
277  <table class="params">
278    <tr><td class="paramname">parent</td><td>parent </td></tr>
279    <tr><td class="paramname">name</td><td>name </td></tr>
280    <tr><td class="paramname">nb_out</td><td>number of output </td></tr>
281  </table>
282  </dd>
283</dl>
284
285</div>
286</div>
287<a class="anchor" id="a62210ace4d3338cbc528ed712e72ac27"></a>
288<div class="memitem">
289<div class="memproto">
290      <table class="memname">
291        <tr>
292          <td class="memname">flair::filter::ControlLaw::~ControlLaw </td>
293          <td>(</td>
294          <td class="paramname"></td><td>)</td>
295          <td></td>
296        </tr>
297      </table>
298</div><div class="memdoc">
299
300<p>Destructor. </p>
301
302</div>
303</div>
304<h2 class="groupheader">Member Function Documentation</h2>
305<a class="anchor" id="ace241d108bd0213135dbd6a5a561d0cf"></a>
306<div class="memitem">
307<div class="memproto">
308      <table class="memname">
309        <tr>
310          <td class="memname">float flair::filter::ControlLaw::Output </td>
311          <td>(</td>
312          <td class="paramtype">uint32_t&#160;</td>
313          <td class="paramname"><em>index</em> = <code>0</code></td><td>)</td>
314          <td> const</td>
315        </tr>
316      </table>
317</div><div class="memdoc">
318
319<p>Output value. </p>
320<dl class="params"><dt>Parameters</dt><dd>
321  <table class="params">
322    <tr><td class="paramname">index</td><td>output index, between 0 and nb_out-1</td></tr>
323  </table>
324  </dd>
325</dl>
326<dl class="section return"><dt>Returns</dt><dd>output value </dd></dl>
327
328</div>
329</div>
330<a class="anchor" id="a3c42c9c7ae276e10d2ebad3a6701210d"></a>
331<div class="memitem">
332<div class="memproto">
333<table class="mlabels">
334  <tr>
335  <td class="mlabels-left">
336      <table class="memname">
337        <tr>
338          <td class="memname">virtual void flair::filter::ControlLaw::UseDefaultPlot </td>
339          <td>(</td>
340          <td class="paramtype">const <a class="el" href="classflair_1_1gui_1_1_layout_position.html">gui::LayoutPosition</a> *&#160;</td>
341          <td class="paramname"><em>position</em></td><td>)</td>
342          <td></td>
343        </tr>
344      </table>
345  </td>
346  <td class="mlabels-right">
347<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
348  </tr>
349</table>
350</div><div class="memdoc">
351
352<p>Use default plot. </p>
353<p>Plot the output value at given position. <br />
354 Only Output(1,1) is plotted. <br />
355 In case of a mutliple output <a class="el" href="classflair_1_1filter_1_1_control_law.html" title="Base class for control law input must be created by reimplemented class. output is created by this cl...">ControlLaw</a>, this function should be reimplemented. <br />
356 After calling this function, position will be deleted as it is no longer usefull. <br />
357 </p><dl class="params"><dt>Parameters</dt><dd>
358  <table class="params">
359    <tr><td class="paramname">position</td><td>position to display plot </td></tr>
360  </table>
361  </dd>
362</dl>
363
364<p>Reimplemented in <a class="el" href="classflair_1_1filter_1_1_pid_thrust.html#a8b77f7720b1406f48baa3c43cf87765a">flair::filter::PidThrust</a>, and <a class="el" href="classflair_1_1filter_1_1_pid.html#a8128ecc530ff19abae93027d72d4b5ec">flair::filter::Pid</a>.</p>
365
366</div>
367</div>
368<a class="anchor" id="a228f8bf6857d96fa015bec9e016d2132"></a>
369<div class="memitem">
370<div class="memproto">
371      <table class="memname">
372        <tr>
373          <td class="memname">void flair::filter::ControlLaw::Update </td>
374          <td>(</td>
375          <td class="paramtype"><a class="el" href="namespaceflair_1_1core.html#acc0fa041e08ecf73b2d1d723c339a736">core::Time</a>&#160;</td>
376          <td class="paramname"><em>time</em></td><td>)</td>
377          <td></td>
378        </tr>
379      </table>
380</div><div class="memdoc">
381
382<p>Update using provided datas. </p>
383<p>Reimplemented class must fill input matrix before calling this.</p>
384<dl class="params"><dt>Parameters</dt><dd>
385  <table class="params">
386    <tr><td class="paramname">time</td><td>time of the update </td></tr>
387  </table>
388  </dd>
389</dl>
390
391</div>
392</div>
393<a class="anchor" id="a0892ecd37930c5d92a41449ab6fa1f10"></a>
394<div class="memitem">
395<div class="memproto">
396<table class="mlabels">
397  <tr>
398  <td class="mlabels-left">
399      <table class="memname">
400        <tr>
401          <td class="memname">virtual void flair::filter::ControlLaw::Reset </td>
402          <td>(</td>
403          <td class="paramtype">void&#160;</td>
404          <td class="paramname"></td><td>)</td>
405          <td></td>
406        </tr>
407      </table>
408  </td>
409  <td class="mlabels-right">
410<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
411  </tr>
412</table>
413</div><div class="memdoc">
414
415<p>Reset the internal state of the control law. </p>
416<p>Doesn't do anything by default </p>
417
418<p>Reimplemented in <a class="el" href="classflair_1_1filter_1_1_pid_thrust.html#a4987d6892e567cce5af9b22dcf065542">flair::filter::PidThrust</a>, and <a class="el" href="classflair_1_1filter_1_1_pid.html#a41573a79913af95cbb94d30225e913b6">flair::filter::Pid</a>.</p>
419
420</div>
421</div>
422<h2 class="groupheader">Member Data Documentation</h2>
423<a class="anchor" id="a9877d488ad17a52affd8c68beca426d1"></a>
424<div class="memitem">
425<div class="memproto">
426<table class="mlabels">
427  <tr>
428  <td class="mlabels-left">
429      <table class="memname">
430        <tr>
431          <td class="memname"><a class="el" href="classflair_1_1core_1_1cvmatrix.html">core::cvmatrix</a>* flair::filter::ControlLaw::input</td>
432        </tr>
433      </table>
434  </td>
435  <td class="mlabels-right">
436<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
437  </tr>
438</table>
439</div><div class="memdoc">
440
441<p>input matrix </p>
442<p>This matrix must be created by the reimplemented class. </p>
443
444</div>
445</div>
446<a class="anchor" id="aad8a67d158a1eda16ed53615e2511f97"></a>
447<div class="memitem">
448<div class="memproto">
449<table class="mlabels">
450  <tr>
451  <td class="mlabels-left">
452      <table class="memname">
453        <tr>
454          <td class="memname"><a class="el" href="classflair_1_1core_1_1cvmatrix.html">core::cvmatrix</a>* flair::filter::ControlLaw::output</td>
455        </tr>
456      </table>
457  </td>
458  <td class="mlabels-right">
459<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
460  </tr>
461</table>
462</div><div class="memdoc">
463
464<p>output matrix </p>
465<p>This matrix is created by this class. Its size is (nb_out,1) and its type is io_data::Float. </p>
466
467</div>
468</div>
469</div><!-- contents -->
470</div><!-- doc-content -->
471<!-- start footer part -->
472<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
473  <ul>
474    <li class="navelem"><a class="el" href="namespaceflair.html">flair</a></li><li class="navelem"><a class="el" href="namespaceflair_1_1filter.html">filter</a></li><li class="navelem"><a class="el" href="classflair_1_1filter_1_1_control_law.html">ControlLaw</a></li>
475    <li class="footer">Generated on Wed Apr 20 2016 16:16:00 for Flair by
476    <a href="http://www.doxygen.org/index.html">
477    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.7 </li>
478  </ul>
479</div>
480</body>
481</html>
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