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109<div class="header">
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111<a href="#pub-methods">Public Member Functions</a> &#124;
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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 pub_attribs_classflair_1_1core_1_1_i_o_device"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classflair_1_1core_1_1_i_o_device')"><img src="closed.png" alt="-"/>&#160;Public Attributes 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:a5b701dbf27a7b1210bf7daf176e4e9b6 inherit pub_attribs_classflair_1_1core_1_1_i_o_device"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5b701dbf27a7b1210bf7daf176e4e9b6"></a>
238<a class="el" href="namespaceflair_1_1core.html#acc0fa041e08ecf73b2d1d723c339a736">Time</a>&#160;</td><td class="memItemRight" valign="bottom"><b>lastUpdate</b></td></tr>
239<tr class="separator:a5b701dbf27a7b1210bf7daf176e4e9b6 inherit pub_attribs_classflair_1_1core_1_1_i_o_device"><td class="memSeparator" colspan="2">&#160;</td></tr>
240<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>
241<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>
242<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>
243<tr class="separator:a3df9057ae23eb34f1b1dae8e7a4a9efc inherit pro_methods_classflair_1_1core_1_1_i_o_device"><td class="memSeparator" colspan="2">&#160;</td></tr>
244</table>
245<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
246<div class="textblock"><p>Base class for control law input must be created by reimplemented class.<br />
247output is created by this class, it is of size (nb_out,1) and type float.<br />
248see constructor for nb_out. </p>
249</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
250<a class="anchor" id="abd6d4ee32a9e01a2d1b0513a0aadafcb"></a>
251<div class="memitem">
252<div class="memproto">
253 <table class="memname">
254 <tr>
255 <td class="memname">flair::filter::ControlLaw::ControlLaw </td>
256 <td>(</td>
257 <td class="paramtype">const <a class="el" href="classflair_1_1core_1_1_object.html">core::Object</a> *&#160;</td>
258 <td class="paramname"><em>parent</em>, </td>
259 </tr>
260 <tr>
261 <td class="paramkey"></td>
262 <td></td>
263 <td class="paramtype">std::string&#160;</td>
264 <td class="paramname"><em>name</em>, </td>
265 </tr>
266 <tr>
267 <td class="paramkey"></td>
268 <td></td>
269 <td class="paramtype">uint32_t&#160;</td>
270 <td class="paramname"><em>nb_out</em> = <code>1</code>&#160;</td>
271 </tr>
272 <tr>
273 <td></td>
274 <td>)</td>
275 <td></td><td></td>
276 </tr>
277 </table>
278</div><div class="memdoc">
279
280<p>Constructor. </p>
281<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>
282<dl class="params"><dt>Parameters</dt><dd>
283 <table class="params">
284 <tr><td class="paramname">parent</td><td>parent </td></tr>
285 <tr><td class="paramname">name</td><td>name </td></tr>
286 <tr><td class="paramname">nb_out</td><td>number of output </td></tr>
287 </table>
288 </dd>
289</dl>
290
291</div>
292</div>
293<a class="anchor" id="a62210ace4d3338cbc528ed712e72ac27"></a>
294<div class="memitem">
295<div class="memproto">
296 <table class="memname">
297 <tr>
298 <td class="memname">flair::filter::ControlLaw::~ControlLaw </td>
299 <td>(</td>
300 <td class="paramname"></td><td>)</td>
301 <td></td>
302 </tr>
303 </table>
304</div><div class="memdoc">
305
306<p>Destructor. </p>
307
308</div>
309</div>
310<h2 class="groupheader">Member Function Documentation</h2>
311<a class="anchor" id="ace241d108bd0213135dbd6a5a561d0cf"></a>
312<div class="memitem">
313<div class="memproto">
314 <table class="memname">
315 <tr>
316 <td class="memname">float flair::filter::ControlLaw::Output </td>
317 <td>(</td>
318 <td class="paramtype">uint32_t&#160;</td>
319 <td class="paramname"><em>index</em> = <code>0</code></td><td>)</td>
320 <td> const</td>
321 </tr>
322 </table>
323</div><div class="memdoc">
324
325<p>Output value. </p>
326<dl class="params"><dt>Parameters</dt><dd>
327 <table class="params">
328 <tr><td class="paramname">index</td><td>output index, between 0 and nb_out-1</td></tr>
329 </table>
330 </dd>
331</dl>
332<dl class="section return"><dt>Returns</dt><dd>output value </dd></dl>
333
334</div>
335</div>
336<a class="anchor" id="a3c42c9c7ae276e10d2ebad3a6701210d"></a>
337<div class="memitem">
338<div class="memproto">
339<table class="mlabels">
340 <tr>
341 <td class="mlabels-left">
342 <table class="memname">
343 <tr>
344 <td class="memname">virtual void flair::filter::ControlLaw::UseDefaultPlot </td>
345 <td>(</td>
346 <td class="paramtype">const <a class="el" href="classflair_1_1gui_1_1_layout_position.html">gui::LayoutPosition</a> *&#160;</td>
347 <td class="paramname"><em>position</em></td><td>)</td>
348 <td></td>
349 </tr>
350 </table>
351 </td>
352 <td class="mlabels-right">
353<span class="mlabels"><span class="mlabel">virtual</span></span> </td>
354 </tr>
355</table>
356</div><div class="memdoc">
357
358<p>Use default plot. </p>
359<p>Plot the output value at given position. <br />
360 Only Output(1,1) is plotted. <br />
361 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 />
362 After calling this function, position will be deleted as it is no longer usefull. <br />
363 </p><dl class="params"><dt>Parameters</dt><dd>
364 <table class="params">
365 <tr><td class="paramname">position</td><td>position to display plot </td></tr>
366 </table>
367 </dd>
368</dl>
369
370<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>
371
372</div>
373</div>
374<a class="anchor" id="a228f8bf6857d96fa015bec9e016d2132"></a>
375<div class="memitem">
376<div class="memproto">
377 <table class="memname">
378 <tr>
379 <td class="memname">void flair::filter::ControlLaw::Update </td>
380 <td>(</td>
381 <td class="paramtype"><a class="el" href="namespaceflair_1_1core.html#acc0fa041e08ecf73b2d1d723c339a736">core::Time</a>&#160;</td>
382 <td class="paramname"><em>time</em></td><td>)</td>
383 <td></td>
384 </tr>
385 </table>
386</div><div class="memdoc">
387
388<p>Update using provided datas. </p>
389<p>Reimplemented class must fill input matrix before calling this.</p>
390<dl class="params"><dt>Parameters</dt><dd>
391 <table class="params">
392 <tr><td class="paramname">time</td><td>time of the update </td></tr>
393 </table>
394 </dd>
395</dl>
396
397</div>
398</div>
399<a class="anchor" id="a0892ecd37930c5d92a41449ab6fa1f10"></a>
400<div class="memitem">
401<div class="memproto">
402<table class="mlabels">
403 <tr>
404 <td class="mlabels-left">
405 <table class="memname">
406 <tr>
407 <td class="memname">virtual void flair::filter::ControlLaw::Reset </td>
408 <td>(</td>
409 <td class="paramtype">void&#160;</td>
410 <td class="paramname"></td><td>)</td>
411 <td></td>
412 </tr>
413 </table>
414 </td>
415 <td class="mlabels-right">
416<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span> </td>
417 </tr>
418</table>
419</div><div class="memdoc">
420
421<p>Reset the internal state of the control law. </p>
422<p>Doesn't do anything by default </p>
423
424<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>
425
426</div>
427</div>
428<h2 class="groupheader">Member Data Documentation</h2>
429<a class="anchor" id="a9877d488ad17a52affd8c68beca426d1"></a>
430<div class="memitem">
431<div class="memproto">
432<table class="mlabels">
433 <tr>
434 <td class="mlabels-left">
435 <table class="memname">
436 <tr>
437 <td class="memname"><a class="el" href="classflair_1_1core_1_1cvmatrix.html">core::cvmatrix</a>* flair::filter::ControlLaw::input</td>
438 </tr>
439 </table>
440 </td>
441 <td class="mlabels-right">
442<span class="mlabels"><span class="mlabel">protected</span></span> </td>
443 </tr>
444</table>
445</div><div class="memdoc">
446
447<p>input matrix </p>
448<p>This matrix must be created by the reimplemented class. </p>
449
450</div>
451</div>
452<a class="anchor" id="aad8a67d158a1eda16ed53615e2511f97"></a>
453<div class="memitem">
454<div class="memproto">
455<table class="mlabels">
456 <tr>
457 <td class="mlabels-left">
458 <table class="memname">
459 <tr>
460 <td class="memname"><a class="el" href="classflair_1_1core_1_1cvmatrix.html">core::cvmatrix</a>* flair::filter::ControlLaw::output</td>
461 </tr>
462 </table>
463 </td>
464 <td class="mlabels-right">
465<span class="mlabels"><span class="mlabel">protected</span></span> </td>
466 </tr>
467</table>
468</div><div class="memdoc">
469
470<p>output matrix </p>
471<p>This matrix is created by this class. Its size is (nb_out,1) and its type is io_data::Float. </p>
472
473</div>
474</div>
475</div><!-- contents -->
476</div><!-- doc-content -->
477<!-- start footer part -->
478<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
479 <ul>
480 <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>
481 <li class="footer">Generated on Thu Nov 3 2016 10:06:12 for Flair by
482 <a href="http://www.doxygen.org/index.html">
483 <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.9.1 </li>
484 </ul>
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