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109<div class="header">
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111<a href="#pub-methods">Public Member Functions</a> &#124;
112<a href="#pro-attribs">Protected Attributes</a> &#124;
113<a href="classflair_1_1filter_1_1_control_law-members.html">List of all members</a> </div>
114 <div class="headertitle">
115<div class="title">flair::filter::ControlLaw Class Reference<span class="mlabels"><span class="mlabel">abstract</span></span></div> </div>
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118
119<p>Base class for control law input must be created by reimplemented class.<br />
120output is created by this class, it is of size (nb_out,1) and type float.<br />
121see constructor for nb_out.
122 <a href="classflair_1_1filter_1_1_control_law.html#details">More...</a></p>
123
124<p><code>#include &lt;<a class="el" href="_control_law_8h_source.html">ControlLaw.h</a>&gt;</code></p>
125<div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
126 <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Inheritance diagram for flair::filter::ControlLaw:</div>
127<div id="dynsection-0-summary" class="dynsummary" style="display:block;">
128</div>
129<div id="dynsection-0-content" class="dyncontent" style="display:none;">
130 <div class="center">
131 <img src="classflair_1_1filter_1_1_control_law.png" usemap="#flair::filter::ControlLaw_map" alt=""/>
132 <map id="flair::filter::ControlLaw_map" name="flair::filter::ControlLaw_map">
133<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"/>
134<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"/>
135<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"/>
136<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"/>
137<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"/>
138</map>
139 </div></div>
140<table class="memberdecls">
141<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
142Public Member Functions</h2></td></tr>
143<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>
144<tr class="memdesc:abd6d4ee32a9e01a2d1b0513a0aadafcb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor. <a href="#abd6d4ee32a9e01a2d1b0513a0aadafcb">More...</a><br /></td></tr>
145<tr class="separator:abd6d4ee32a9e01a2d1b0513a0aadafcb"><td class="memSeparator" colspan="2">&#160;</td></tr>
146<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>
147<tr class="memdesc:a62210ace4d3338cbc528ed712e72ac27"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <a href="#a62210ace4d3338cbc528ed712e72ac27">More...</a><br /></td></tr>
148<tr class="separator:a62210ace4d3338cbc528ed712e72ac27"><td class="memSeparator" colspan="2">&#160;</td></tr>
149<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>
150<tr class="memdesc:ace241d108bd0213135dbd6a5a561d0cf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Output value. <a href="#ace241d108bd0213135dbd6a5a561d0cf">More...</a><br /></td></tr>
151<tr class="separator:ace241d108bd0213135dbd6a5a561d0cf"><td class="memSeparator" colspan="2">&#160;</td></tr>
152<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>
153<tr class="memdesc:a3c42c9c7ae276e10d2ebad3a6701210d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Use default plot. <a href="#a3c42c9c7ae276e10d2ebad3a6701210d">More...</a><br /></td></tr>
154<tr class="separator:a3c42c9c7ae276e10d2ebad3a6701210d"><td class="memSeparator" colspan="2">&#160;</td></tr>
155<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>
156<tr class="memdesc:a228f8bf6857d96fa015bec9e016d2132"><td class="mdescLeft">&#160;</td><td class="mdescRight">Update using provided datas. <a href="#a228f8bf6857d96fa015bec9e016d2132">More...</a><br /></td></tr>
157<tr class="separator:a228f8bf6857d96fa015bec9e016d2132"><td class="memSeparator" colspan="2">&#160;</td></tr>
158<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>
159<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>
160<tr class="separator:a0892ecd37930c5d92a41449ab6fa1f10"><td class="memSeparator" colspan="2">&#160;</td></tr>
161<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>
162<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>
163<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>
164<tr class="separator:a9693b497752b466891eaafeb34bec4d3 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="memSeparator" colspan="2">&#160;</td></tr>
165<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>
166<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>
167<tr class="separator:a05246988b486def40926d8491e1bcc5f inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="memSeparator" colspan="2">&#160;</td></tr>
168<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>
169<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>
170<tr class="separator:af7b42de6bb3893df860063228b55c229 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="memSeparator" colspan="2">&#160;</td></tr>
171<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>
172<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>
173<tr class="separator:a2e0b7af75abdbf39843d8bf2e45f08b9 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="memSeparator" colspan="2">&#160;</td></tr>
174<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>
175<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>
176<tr class="separator:a12d811c6926fb86da6b47f889109da66 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="memSeparator" colspan="2">&#160;</td></tr>
177<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>
178virtual <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>
179<tr class="separator:a75e82ca2ae2fb7c39d973dd3d16bc698 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="memSeparator" colspan="2">&#160;</td></tr>
180<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>
181virtual <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>
182<tr class="separator:aa325be57d48b268006120dde75dd65cc inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="memSeparator" colspan="2">&#160;</td></tr>
183<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>
184<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>
185<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>
186<tr class="separator:aec92383fd5bf68d9df10414862b7e95c inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
187<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>
188<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>
189<tr class="separator:aa2bde0e6677bbef705c96c93cb06ad09 inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
190<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>
191<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>
192<tr class="separator:a9b0344dff7e1c05424d9152c8274523a inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
193<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>
194<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>
195<tr class="separator:a609a250ec037fbcaf8957c8f1dcbfc53 inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
196<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>
197<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>
198<tr class="separator:a360c112cc3017a5152ebf6e84d2efa70 inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
199<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>
200<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>
201<tr class="separator:ae22db4d723ec2d50b3ba48f26a6a770c inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
202<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>
203<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>
204<tr class="separator:a344f81cd35805a9501098bf727ac1a10 inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
205<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>
206<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>
207<tr class="separator:af001feba14fc053aa778e61080a0b4cf inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
208<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>
209<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>
210<tr class="separator:a168b18451b2ee6126e1e81d452005ff6 inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
211<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>
212<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>
213<tr class="separator:a3ca9694d29ec2b0491739879685df5ca inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
214<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>
215<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>
216<tr class="separator:a36cdd7f556e78b1bddd1d1fe4264bb85 inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
217</table><table class="memberdecls">
218<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
219Protected Attributes</h2></td></tr>
220<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>
221<tr class="memdesc:a9877d488ad17a52affd8c68beca426d1"><td class="mdescLeft">&#160;</td><td class="mdescRight">input matrix <a href="#a9877d488ad17a52affd8c68beca426d1">More...</a><br /></td></tr>
222<tr class="separator:a9877d488ad17a52affd8c68beca426d1"><td class="memSeparator" colspan="2">&#160;</td></tr>
223<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>
224<tr class="memdesc:aad8a67d158a1eda16ed53615e2511f97"><td class="mdescLeft">&#160;</td><td class="mdescRight">output matrix <a href="#aad8a67d158a1eda16ed53615e2511f97">More...</a><br /></td></tr>
225<tr class="separator:aad8a67d158a1eda16ed53615e2511f97"><td class="memSeparator" colspan="2">&#160;</td></tr>
226</table><table class="memberdecls">
227<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
228Additional Inherited Members</h2></td></tr>
229<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>
230<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,
231<b>Red</b> = 31,
232<b>Green</b> = 32,
233<b>Orange</b> = 33
234 }</td></tr>
235<tr class="separator:aed5fccda511f97487040fed29f4efc97 inherit pub_types_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
236<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>
237<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>
238<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>
239<tr class="separator:a3df9057ae23eb34f1b1dae8e7a4a9efc inherit pro_methods_classflair_1_1core_1_1_i_o_device"><td class="memSeparator" colspan="2">&#160;</td></tr>
240</table>
241<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
242<div class="textblock"><p>Base class for control law input must be created by reimplemented class.<br />
243output is created by this class, it is of size (nb_out,1) and type float.<br />
244see constructor for nb_out. </p>
245</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
246<a class="anchor" id="abd6d4ee32a9e01a2d1b0513a0aadafcb"></a>
247<div class="memitem">
248<div class="memproto">
249 <table class="memname">
250 <tr>
251 <td class="memname">flair::filter::ControlLaw::ControlLaw </td>
252 <td>(</td>
253 <td class="paramtype">const <a class="el" href="classflair_1_1core_1_1_object.html">core::Object</a> *&#160;</td>
254 <td class="paramname"><em>parent</em>, </td>
255 </tr>
256 <tr>
257 <td class="paramkey"></td>
258 <td></td>
259 <td class="paramtype">std::string&#160;</td>
260 <td class="paramname"><em>name</em>, </td>
261 </tr>
262 <tr>
263 <td class="paramkey"></td>
264 <td></td>
265 <td class="paramtype">uint32_t&#160;</td>
266 <td class="paramname"><em>nb_out</em> = <code>1</code>&#160;</td>
267 </tr>
268 <tr>
269 <td></td>
270 <td>)</td>
271 <td></td><td></td>
272 </tr>
273 </table>
274</div><div class="memdoc">
275
276<p>Constructor. </p>
277<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>
278<dl class="params"><dt>Parameters</dt><dd>
279 <table class="params">
280 <tr><td class="paramname">parent</td><td>parent </td></tr>
281 <tr><td class="paramname">name</td><td>name </td></tr>
282 <tr><td class="paramname">nb_out</td><td>number of output </td></tr>
283 </table>
284 </dd>
285</dl>
286
287</div>
288</div>
289<a class="anchor" id="a62210ace4d3338cbc528ed712e72ac27"></a>
290<div class="memitem">
291<div class="memproto">
292 <table class="memname">
293 <tr>
294 <td class="memname">flair::filter::ControlLaw::~ControlLaw </td>
295 <td>(</td>
296 <td class="paramname"></td><td>)</td>
297 <td></td>
298 </tr>
299 </table>
300</div><div class="memdoc">
301
302<p>Destructor. </p>
303
304</div>
305</div>
306<h2 class="groupheader">Member Function Documentation</h2>
307<a class="anchor" id="ace241d108bd0213135dbd6a5a561d0cf"></a>
308<div class="memitem">
309<div class="memproto">
310 <table class="memname">
311 <tr>
312 <td class="memname">float flair::filter::ControlLaw::Output </td>
313 <td>(</td>
314 <td class="paramtype">uint32_t&#160;</td>
315 <td class="paramname"><em>index</em> = <code>0</code></td><td>)</td>
316 <td> const</td>
317 </tr>
318 </table>
319</div><div class="memdoc">
320
321<p>Output value. </p>
322<dl class="params"><dt>Parameters</dt><dd>
323 <table class="params">
324 <tr><td class="paramname">index</td><td>output index, between 0 and nb_out-1</td></tr>
325 </table>
326 </dd>
327</dl>
328<dl class="section return"><dt>Returns</dt><dd>output value </dd></dl>
329
330</div>
331</div>
332<a class="anchor" id="a3c42c9c7ae276e10d2ebad3a6701210d"></a>
333<div class="memitem">
334<div class="memproto">
335<table class="mlabels">
336 <tr>
337 <td class="mlabels-left">
338 <table class="memname">
339 <tr>
340 <td class="memname">virtual void flair::filter::ControlLaw::UseDefaultPlot </td>
341 <td>(</td>
342 <td class="paramtype">const <a class="el" href="classflair_1_1gui_1_1_layout_position.html">gui::LayoutPosition</a> *&#160;</td>
343 <td class="paramname"><em>position</em></td><td>)</td>
344 <td></td>
345 </tr>
346 </table>
347 </td>
348 <td class="mlabels-right">
349<span class="mlabels"><span class="mlabel">virtual</span></span> </td>
350 </tr>
351</table>
352</div><div class="memdoc">
353
354<p>Use default plot. </p>
355<p>Plot the output value at given position. <br />
356 Only Output(1,1) is plotted. <br />
357 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 />
358 After calling this function, position will be deleted as it is no longer usefull. <br />
359 </p><dl class="params"><dt>Parameters</dt><dd>
360 <table class="params">
361 <tr><td class="paramname">position</td><td>position to display plot </td></tr>
362 </table>
363 </dd>
364</dl>
365
366<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>
367
368</div>
369</div>
370<a class="anchor" id="a228f8bf6857d96fa015bec9e016d2132"></a>
371<div class="memitem">
372<div class="memproto">
373 <table class="memname">
374 <tr>
375 <td class="memname">void flair::filter::ControlLaw::Update </td>
376 <td>(</td>
377 <td class="paramtype"><a class="el" href="namespaceflair_1_1core.html#acc0fa041e08ecf73b2d1d723c339a736">core::Time</a>&#160;</td>
378 <td class="paramname"><em>time</em></td><td>)</td>
379 <td></td>
380 </tr>
381 </table>
382</div><div class="memdoc">
383
384<p>Update using provided datas. </p>
385<p>Reimplemented class must fill input matrix before calling this.</p>
386<dl class="params"><dt>Parameters</dt><dd>
387 <table class="params">
388 <tr><td class="paramname">time</td><td>time of the update </td></tr>
389 </table>
390 </dd>
391</dl>
392
393</div>
394</div>
395<a class="anchor" id="a0892ecd37930c5d92a41449ab6fa1f10"></a>
396<div class="memitem">
397<div class="memproto">
398<table class="mlabels">
399 <tr>
400 <td class="mlabels-left">
401 <table class="memname">
402 <tr>
403 <td class="memname">virtual void flair::filter::ControlLaw::Reset </td>
404 <td>(</td>
405 <td class="paramtype">void&#160;</td>
406 <td class="paramname"></td><td>)</td>
407 <td></td>
408 </tr>
409 </table>
410 </td>
411 <td class="mlabels-right">
412<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span> </td>
413 </tr>
414</table>
415</div><div class="memdoc">
416
417<p>Reset the internal state of the control law. </p>
418<p>Doesn't do anything by default </p>
419
420<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>
421
422</div>
423</div>
424<h2 class="groupheader">Member Data Documentation</h2>
425<a class="anchor" id="a9877d488ad17a52affd8c68beca426d1"></a>
426<div class="memitem">
427<div class="memproto">
428<table class="mlabels">
429 <tr>
430 <td class="mlabels-left">
431 <table class="memname">
432 <tr>
433 <td class="memname"><a class="el" href="classflair_1_1core_1_1cvmatrix.html">core::cvmatrix</a>* flair::filter::ControlLaw::input</td>
434 </tr>
435 </table>
436 </td>
437 <td class="mlabels-right">
438<span class="mlabels"><span class="mlabel">protected</span></span> </td>
439 </tr>
440</table>
441</div><div class="memdoc">
442
443<p>input matrix </p>
444<p>This matrix must be created by the reimplemented class. </p>
445
446</div>
447</div>
448<a class="anchor" id="aad8a67d158a1eda16ed53615e2511f97"></a>
449<div class="memitem">
450<div class="memproto">
451<table class="mlabels">
452 <tr>
453 <td class="mlabels-left">
454 <table class="memname">
455 <tr>
456 <td class="memname"><a class="el" href="classflair_1_1core_1_1cvmatrix.html">core::cvmatrix</a>* flair::filter::ControlLaw::output</td>
457 </tr>
458 </table>
459 </td>
460 <td class="mlabels-right">
461<span class="mlabels"><span class="mlabel">protected</span></span> </td>
462 </tr>
463</table>
464</div><div class="memdoc">
465
466<p>output matrix </p>
467<p>This matrix is created by this class. Its size is (nb_out,1) and its type is io_data::Float. </p>
468
469</div>
470</div>
471</div><!-- contents -->
472</div><!-- doc-content -->
473<!-- start footer part -->
474<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
475 <ul>
476 <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>
477 <li class="footer">Generated on Wed Jun 22 2016 08:08:42 for Flair by
478 <a href="http://www.doxygen.org/index.html">
479 <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.9.1 </li>
480 </ul>
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483</html>
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