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| 114 | <div class="headertitle">
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| 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 |
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| 119 | <p>Base class for control law input must be created by reimplemented class.<br />
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| 120 | output is created by this class, it is of size (nb_out,1) and type float.<br />
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| 121 | see constructor for nb_out.
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| 122 | <a href="classflair_1_1filter_1_1_control_law.html#details">More...</a></p>
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| 123 |
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| 124 | <p><code>#include <<a class="el" href="_control_law_8h_source.html">ControlLaw.h</a>></code></p>
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| 125 | <div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
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| 126 | <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Inheritance diagram for flair::filter::ControlLaw:</div>
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| 130 | <div class="center">
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| 131 | <img src="classflair_1_1filter_1_1_control_law.png" usemap="#flair::filter::ControlLaw_map" alt=""/>
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| 132 | <map id="flair::filter::ControlLaw_map" name="flair::filter::ControlLaw_map">
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| 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"/>
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| 134 | <area href="classflair_1_1core_1_1_object.html" title="Base class for all Framework's classes. " alt="flair::core::Object" shape="rect" coords="145,0,280,24"/>
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| 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"/>
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| 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"/>
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| 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"/>
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| 138 | </map>
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| 139 | </div></div>
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| 140 | <table class="memberdecls">
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| 141 | <tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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| 142 | Public Member Functions</h2></td></tr>
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| 143 | <tr class="memitem:abd6d4ee32a9e01a2d1b0513a0aadafcb"><td class="memItemLeft" align="right" valign="top"> </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>
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| 144 | <tr class="memdesc:abd6d4ee32a9e01a2d1b0513a0aadafcb"><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <a href="#abd6d4ee32a9e01a2d1b0513a0aadafcb">More...</a><br /></td></tr>
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| 145 | <tr class="separator:abd6d4ee32a9e01a2d1b0513a0aadafcb"><td class="memSeparator" colspan="2"> </td></tr>
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| 146 | <tr class="memitem:a62210ace4d3338cbc528ed712e72ac27"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1filter_1_1_control_law.html#a62210ace4d3338cbc528ed712e72ac27">~ControlLaw</a> ()</td></tr>
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| 147 | <tr class="memdesc:a62210ace4d3338cbc528ed712e72ac27"><td class="mdescLeft"> </td><td class="mdescRight">Destructor. <a href="#a62210ace4d3338cbc528ed712e72ac27">More...</a><br /></td></tr>
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| 148 | <tr class="separator:a62210ace4d3338cbc528ed712e72ac27"><td class="memSeparator" colspan="2"> </td></tr>
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| 149 | <tr class="memitem:ace241d108bd0213135dbd6a5a561d0cf"><td class="memItemLeft" align="right" valign="top">float </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>
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| 150 | <tr class="memdesc:ace241d108bd0213135dbd6a5a561d0cf"><td class="mdescLeft"> </td><td class="mdescRight">Output value. <a href="#ace241d108bd0213135dbd6a5a561d0cf">More...</a><br /></td></tr>
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| 151 | <tr class="separator:ace241d108bd0213135dbd6a5a561d0cf"><td class="memSeparator" colspan="2"> </td></tr>
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| 152 | <tr class="memitem:a3c42c9c7ae276e10d2ebad3a6701210d"><td class="memItemLeft" align="right" valign="top">virtual void </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>
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| 153 | <tr class="memdesc:a3c42c9c7ae276e10d2ebad3a6701210d"><td class="mdescLeft"> </td><td class="mdescRight">Use default plot. <a href="#a3c42c9c7ae276e10d2ebad3a6701210d">More...</a><br /></td></tr>
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| 154 | <tr class="separator:a3c42c9c7ae276e10d2ebad3a6701210d"><td class="memSeparator" colspan="2"> </td></tr>
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| 155 | <tr class="memitem:a228f8bf6857d96fa015bec9e016d2132"><td class="memItemLeft" align="right" valign="top">void </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>
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| 156 | <tr class="memdesc:a228f8bf6857d96fa015bec9e016d2132"><td class="mdescLeft"> </td><td class="mdescRight">Update using provided datas. <a href="#a228f8bf6857d96fa015bec9e016d2132">More...</a><br /></td></tr>
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| 157 | <tr class="separator:a228f8bf6857d96fa015bec9e016d2132"><td class="memSeparator" colspan="2"> </td></tr>
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| 158 | <tr class="memitem:a0892ecd37930c5d92a41449ab6fa1f10"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1filter_1_1_control_law.html#a0892ecd37930c5d92a41449ab6fa1f10">Reset</a> ()</td></tr>
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| 159 | <tr class="memdesc:a0892ecd37930c5d92a41449ab6fa1f10"><td class="mdescLeft"> </td><td class="mdescRight">Reset the internal state of the control law. <a href="#a0892ecd37930c5d92a41449ab6fa1f10">More...</a><br /></td></tr>
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| 160 | <tr class="separator:a0892ecd37930c5d92a41449ab6fa1f10"><td class="memSeparator" colspan="2"> </td></tr>
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| 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="-"/> Public Member Functions inherited from <a class="el" href="classflair_1_1core_1_1_i_o_device.html">flair::core::IODevice</a></td></tr>
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| 162 | <tr class="memitem:a9693b497752b466891eaafeb34bec4d3 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="memItemLeft" align="right" valign="top"> </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>
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| 163 | <tr class="memdesc:a9693b497752b466891eaafeb34bec4d3 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <a href="#a9693b497752b466891eaafeb34bec4d3">More...</a><br /></td></tr>
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| 164 | <tr class="separator:a9693b497752b466891eaafeb34bec4d3 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="memSeparator" colspan="2"> </td></tr>
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| 165 | <tr class="memitem:a05246988b486def40926d8491e1bcc5f inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="memItemLeft" align="right" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_i_o_device.html#a05246988b486def40926d8491e1bcc5f">~IODevice</a> ()</td></tr>
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| 166 | <tr class="memdesc:a05246988b486def40926d8491e1bcc5f inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="mdescLeft"> </td><td class="mdescRight">Destructor. <a href="#a05246988b486def40926d8491e1bcc5f">More...</a><br /></td></tr>
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| 167 | <tr class="separator:a05246988b486def40926d8491e1bcc5f inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="memSeparator" colspan="2"> </td></tr>
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| 168 | <tr class="memitem:af7b42de6bb3893df860063228b55c229 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="memItemLeft" align="right" valign="top">void </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>
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| 169 | <tr class="memdesc:af7b42de6bb3893df860063228b55c229 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="mdescLeft"> </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>
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| 170 | <tr class="separator:af7b42de6bb3893df860063228b55c229 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="memSeparator" colspan="2"> </td></tr>
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| 171 | <tr class="memitem:a2e0b7af75abdbf39843d8bf2e45f08b9 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="memItemLeft" align="right" valign="top">void </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>
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| 172 | <tr class="memdesc:a2e0b7af75abdbf39843d8bf2e45f08b9 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="mdescLeft"> </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>
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| 173 | <tr class="separator:a2e0b7af75abdbf39843d8bf2e45f08b9 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="memSeparator" colspan="2"> </td></tr>
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| 174 | <tr class="memitem:a12d811c6926fb86da6b47f889109da66 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="memItemLeft" align="right" valign="top">void </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>
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| 175 | <tr class="memdesc:a12d811c6926fb86da6b47f889109da66 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="mdescLeft"> </td><td class="mdescRight">Send the output to a shared memory. <a href="#a12d811c6926fb86da6b47f889109da66">More...</a><br /></td></tr>
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| 176 | <tr class="separator:a12d811c6926fb86da6b47f889109da66 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="memSeparator" colspan="2"> </td></tr>
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| 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>
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| 178 | virtual <a class="el" href="classflair_1_1core_1_1_data_type.html">DataType</a> const & </td><td class="memItemRight" valign="bottom"><b>GetInputDataType</b> () const </td></tr>
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| 179 | <tr class="separator:a75e82ca2ae2fb7c39d973dd3d16bc698 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="memSeparator" colspan="2"> </td></tr>
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| 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>
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| 181 | virtual <a class="el" href="classflair_1_1core_1_1_data_type.html">DataType</a> const & </td><td class="memItemRight" valign="bottom"><b>GetOutputDataType</b> () const </td></tr>
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| 182 | <tr class="separator:aa325be57d48b268006120dde75dd65cc inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="memSeparator" colspan="2"> </td></tr>
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| 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="-"/> Public Member Functions inherited from <a class="el" href="classflair_1_1core_1_1_object.html">flair::core::Object</a></td></tr>
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| 184 | <tr class="memitem:aec92383fd5bf68d9df10414862b7e95c inherit pub_methods_classflair_1_1core_1_1_object"><td class="memItemLeft" align="right" valign="top"> </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="", std::string type="")</td></tr>
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| 185 | <tr class="memdesc:aec92383fd5bf68d9df10414862b7e95c inherit pub_methods_classflair_1_1core_1_1_object"><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <a href="#aec92383fd5bf68d9df10414862b7e95c">More...</a><br /></td></tr>
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| 186 | <tr class="separator:aec92383fd5bf68d9df10414862b7e95c inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2"> </td></tr>
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| 187 | <tr class="memitem:aa2bde0e6677bbef705c96c93cb06ad09 inherit pub_methods_classflair_1_1core_1_1_object"><td class="memItemLeft" align="right" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_object.html#aa2bde0e6677bbef705c96c93cb06ad09">~Object</a> ()</td></tr>
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| 188 | <tr class="memdesc:aa2bde0e6677bbef705c96c93cb06ad09 inherit pub_methods_classflair_1_1core_1_1_object"><td class="mdescLeft"> </td><td class="mdescRight">Destructor. <a href="#aa2bde0e6677bbef705c96c93cb06ad09">More...</a><br /></td></tr>
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| 189 | <tr class="separator:aa2bde0e6677bbef705c96c93cb06ad09 inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2"> </td></tr>
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| 190 | <tr class="memitem:a9b0344dff7e1c05424d9152c8274523a inherit pub_methods_classflair_1_1core_1_1_object"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_object.html#a9b0344dff7e1c05424d9152c8274523a">ObjectName</a> (void) const </td></tr>
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| 191 | <tr class="memdesc:a9b0344dff7e1c05424d9152c8274523a inherit pub_methods_classflair_1_1core_1_1_object"><td class="mdescLeft"> </td><td class="mdescRight">Name. <a href="#a9b0344dff7e1c05424d9152c8274523a">More...</a><br /></td></tr>
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| 192 | <tr class="separator:a9b0344dff7e1c05424d9152c8274523a inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2"> </td></tr>
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| 193 | <tr class="memitem:a609a250ec037fbcaf8957c8f1dcbfc53 inherit pub_methods_classflair_1_1core_1_1_object"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_object.html#a609a250ec037fbcaf8957c8f1dcbfc53">ObjectType</a> (void) const </td></tr>
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| 194 | <tr class="memdesc:a609a250ec037fbcaf8957c8f1dcbfc53 inherit pub_methods_classflair_1_1core_1_1_object"><td class="mdescLeft"> </td><td class="mdescRight">Type. <a href="#a609a250ec037fbcaf8957c8f1dcbfc53">More...</a><br /></td></tr>
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| 195 | <tr class="separator:a609a250ec037fbcaf8957c8f1dcbfc53 inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2"> </td></tr>
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| 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> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_object.html#a360c112cc3017a5152ebf6e84d2efa70">Parent</a> (void) const </td></tr>
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| 197 | <tr class="memdesc:a360c112cc3017a5152ebf6e84d2efa70 inherit pub_methods_classflair_1_1core_1_1_object"><td class="mdescLeft"> </td><td class="mdescRight">Parent. <a href="#a360c112cc3017a5152ebf6e84d2efa70">More...</a><br /></td></tr>
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| 198 | <tr class="separator:a360c112cc3017a5152ebf6e84d2efa70 inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2"> </td></tr>
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| 199 | <tr class="memitem:ae22db4d723ec2d50b3ba48f26a6a770c inherit pub_methods_classflair_1_1core_1_1_object"><td class="memItemLeft" align="right" valign="top">std::vector< const <a class="el" href="classflair_1_1core_1_1_object.html">Object</a> * > * </td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_object.html#ae22db4d723ec2d50b3ba48f26a6a770c">TypeChilds</a> (void) const </td></tr>
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| 200 | <tr class="memdesc:ae22db4d723ec2d50b3ba48f26a6a770c inherit pub_methods_classflair_1_1core_1_1_object"><td class="mdescLeft"> </td><td class="mdescRight">Childs of the same type. <a href="#ae22db4d723ec2d50b3ba48f26a6a770c">More...</a><br /></td></tr>
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| 201 | <tr class="separator:ae22db4d723ec2d50b3ba48f26a6a770c inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2"> </td></tr>
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| 202 | <tr class="memitem:a344f81cd35805a9501098bf727ac1a10 inherit pub_methods_classflair_1_1core_1_1_object"><td class="memItemLeft" align="right" valign="top">std::vector< const <a class="el" href="classflair_1_1core_1_1_object.html">Object</a> * > * </td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_object.html#a344f81cd35805a9501098bf727ac1a10">Childs</a> (void) const </td></tr>
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| 203 | <tr class="memdesc:a344f81cd35805a9501098bf727ac1a10 inherit pub_methods_classflair_1_1core_1_1_object"><td class="mdescLeft"> </td><td class="mdescRight">Childs. <a href="#a344f81cd35805a9501098bf727ac1a10">More...</a><br /></td></tr>
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| 204 | <tr class="separator:a344f81cd35805a9501098bf727ac1a10 inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2"> </td></tr>
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| 205 | <tr class="memitem:af001feba14fc053aa778e61080a0b4cf inherit pub_methods_classflair_1_1core_1_1_object"><td class="memItemLeft" align="right" valign="top">void </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>
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| 206 | <tr class="memdesc:af001feba14fc053aa778e61080a0b4cf inherit pub_methods_classflair_1_1core_1_1_object"><td class="mdescLeft"> </td><td class="mdescRight">Formatted information. <a href="#af001feba14fc053aa778e61080a0b4cf">More...</a><br /></td></tr>
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| 207 | <tr class="separator:af001feba14fc053aa778e61080a0b4cf inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2"> </td></tr>
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| 208 | <tr class="memitem:a168b18451b2ee6126e1e81d452005ff6 inherit pub_methods_classflair_1_1core_1_1_object"><td class="memItemLeft" align="right" valign="top">void </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>
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| 209 | <tr class="memdesc:a168b18451b2ee6126e1e81d452005ff6 inherit pub_methods_classflair_1_1core_1_1_object"><td class="mdescLeft"> </td><td class="mdescRight">Formatted warning. <a href="#a168b18451b2ee6126e1e81d452005ff6">More...</a><br /></td></tr>
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| 210 | <tr class="separator:a168b18451b2ee6126e1e81d452005ff6 inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2"> </td></tr>
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| 211 | <tr class="memitem:a3ca9694d29ec2b0491739879685df5ca inherit pub_methods_classflair_1_1core_1_1_object"><td class="memItemLeft" align="right" valign="top">void </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>
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| 212 | <tr class="memdesc:a3ca9694d29ec2b0491739879685df5ca inherit pub_methods_classflair_1_1core_1_1_object"><td class="mdescLeft"> </td><td class="mdescRight">Formatted error. <a href="#a3ca9694d29ec2b0491739879685df5ca">More...</a><br /></td></tr>
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| 213 | <tr class="separator:a3ca9694d29ec2b0491739879685df5ca inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2"> </td></tr>
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| 214 | <tr class="memitem:a36cdd7f556e78b1bddd1d1fe4264bb85 inherit pub_methods_classflair_1_1core_1_1_object"><td class="memItemLeft" align="right" valign="top">bool </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>
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| 215 | <tr class="memdesc:a36cdd7f556e78b1bddd1d1fe4264bb85 inherit pub_methods_classflair_1_1core_1_1_object"><td class="mdescLeft"> </td><td class="mdescRight">Has an errror occured? <a href="#a36cdd7f556e78b1bddd1d1fe4264bb85">More...</a><br /></td></tr>
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| 216 | <tr class="separator:a36cdd7f556e78b1bddd1d1fe4264bb85 inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2"> </td></tr>
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| 217 | </table><table class="memberdecls">
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| 218 | <tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
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| 219 | Protected Attributes</h2></td></tr>
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| 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> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1filter_1_1_control_law.html#a9877d488ad17a52affd8c68beca426d1">input</a></td></tr>
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| 221 | <tr class="memdesc:a9877d488ad17a52affd8c68beca426d1"><td class="mdescLeft"> </td><td class="mdescRight">input matrix <a href="#a9877d488ad17a52affd8c68beca426d1">More...</a><br /></td></tr>
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| 222 | <tr class="separator:a9877d488ad17a52affd8c68beca426d1"><td class="memSeparator" colspan="2"> </td></tr>
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| 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> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1filter_1_1_control_law.html#aad8a67d158a1eda16ed53615e2511f97">output</a></td></tr>
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| 224 | <tr class="memdesc:aad8a67d158a1eda16ed53615e2511f97"><td class="mdescLeft"> </td><td class="mdescRight">output matrix <a href="#aad8a67d158a1eda16ed53615e2511f97">More...</a><br /></td></tr>
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| 225 | <tr class="separator:aad8a67d158a1eda16ed53615e2511f97"><td class="memSeparator" colspan="2"> </td></tr>
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| 226 | </table><table class="memberdecls">
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| 227 | <tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
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| 228 | Additional Inherited Members</h2></td></tr>
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| 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="-"/> Public Types inherited from <a class="el" href="classflair_1_1core_1_1_object.html">flair::core::Object</a></td></tr>
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| 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  </td><td class="memItemRight" valign="bottom"><b>color_t</b> { <b>Auto</b> = 0,
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| 231 | <b>Red</b> = 31,
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| 232 | <b>Green</b> = 32,
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| 233 | <b>Orange</b> = 33
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| 234 | }</td></tr>
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| 235 | <tr class="separator:aed5fccda511f97487040fed29f4efc97 inherit pub_types_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2"> </td></tr>
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| 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="-"/> Public Attributes inherited from <a class="el" href="classflair_1_1core_1_1_i_o_device.html">flair::core::IODevice</a></td></tr>
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| 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>
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| 238 | <a class="el" href="namespaceflair_1_1core.html#acc0fa041e08ecf73b2d1d723c339a736">Time</a> </td><td class="memItemRight" valign="bottom"><b>lastUpdate</b></td></tr>
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| 239 | <tr class="separator:a5b701dbf27a7b1210bf7daf176e4e9b6 inherit pub_attribs_classflair_1_1core_1_1_i_o_device"><td class="memSeparator" colspan="2"> </td></tr>
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| 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="-"/> Protected Member Functions inherited from <a class="el" href="classflair_1_1core_1_1_i_o_device.html">flair::core::IODevice</a></td></tr>
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| 241 | <tr class="memitem:a3df9057ae23eb34f1b1dae8e7a4a9efc inherit pro_methods_classflair_1_1core_1_1_i_o_device"><td class="memItemLeft" align="right" valign="top">void </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>
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| 242 | <tr class="memdesc:a3df9057ae23eb34f1b1dae8e7a4a9efc inherit pro_methods_classflair_1_1core_1_1_i_o_device"><td class="mdescLeft"> </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>
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| 243 | <tr class="separator:a3df9057ae23eb34f1b1dae8e7a4a9efc inherit pro_methods_classflair_1_1core_1_1_i_o_device"><td class="memSeparator" colspan="2"> </td></tr>
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| 244 | </table>
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| 245 | <a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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| 246 | <div class="textblock"><p>Base class for control law input must be created by reimplemented class.<br />
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| 247 | output is created by this class, it is of size (nb_out,1) and type float.<br />
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| 248 | see constructor for nb_out. </p>
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| 249 | </div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
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| 250 | <a class="anchor" id="abd6d4ee32a9e01a2d1b0513a0aadafcb"></a>
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| 251 | <div class="memitem">
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| 252 | <div class="memproto">
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| 253 | <table class="memname">
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| 254 | <tr>
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| 255 | <td class="memname">flair::filter::ControlLaw::ControlLaw </td>
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| 256 | <td>(</td>
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| 257 | <td class="paramtype">const <a class="el" href="classflair_1_1core_1_1_object.html">core::Object</a> * </td>
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| 258 | <td class="paramname"><em>parent</em>, </td>
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| 259 | </tr>
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| 260 | <tr>
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| 261 | <td class="paramkey"></td>
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| 262 | <td></td>
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| 263 | <td class="paramtype">std::string </td>
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| 264 | <td class="paramname"><em>name</em>, </td>
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| 265 | </tr>
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| 266 | <tr>
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| 267 | <td class="paramkey"></td>
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| 268 | <td></td>
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| 269 | <td class="paramtype">uint32_t </td>
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| 270 | <td class="paramname"><em>nb_out</em> = <code>1</code> </td>
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| 271 | </tr>
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| 272 | <tr>
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| 273 | <td></td>
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| 274 | <td>)</td>
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| 275 | <td></td><td></td>
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| 276 | </tr>
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| 277 | </table>
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| 278 | </div><div class="memdoc">
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| 279 |
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| 280 | <p>Constructor. </p>
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| 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>
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| 282 | <dl class="params"><dt>Parameters</dt><dd>
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| 283 | <table class="params">
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| 284 | <tr><td class="paramname">parent</td><td>parent </td></tr>
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| 285 | <tr><td class="paramname">name</td><td>name </td></tr>
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| 286 | <tr><td class="paramname">nb_out</td><td>number of output </td></tr>
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| 287 | </table>
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| 288 | </dd>
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| 289 | </dl>
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| 290 |
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| 291 | </div>
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| 292 | </div>
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| 293 | <a class="anchor" id="a62210ace4d3338cbc528ed712e72ac27"></a>
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| 294 | <div class="memitem">
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| 295 | <div class="memproto">
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| 296 | <table class="memname">
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| 297 | <tr>
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| 298 | <td class="memname">flair::filter::ControlLaw::~ControlLaw </td>
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| 299 | <td>(</td>
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| 300 | <td class="paramname"></td><td>)</td>
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| 301 | <td></td>
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| 302 | </tr>
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| 303 | </table>
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| 304 | </div><div class="memdoc">
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| 305 |
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| 306 | <p>Destructor. </p>
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| 307 |
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| 308 | </div>
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| 309 | </div>
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| 310 | <h2 class="groupheader">Member Function Documentation</h2>
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| 311 | <a class="anchor" id="ace241d108bd0213135dbd6a5a561d0cf"></a>
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| 312 | <div class="memitem">
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| 313 | <div class="memproto">
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| 314 | <table class="memname">
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| 315 | <tr>
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| 316 | <td class="memname">float flair::filter::ControlLaw::Output </td>
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| 317 | <td>(</td>
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| 318 | <td class="paramtype">uint32_t </td>
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| 319 | <td class="paramname"><em>index</em> = <code>0</code></td><td>)</td>
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| 320 | <td> const</td>
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| 321 | </tr>
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| 322 | </table>
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| 323 | </div><div class="memdoc">
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| 324 |
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| 325 | <p>Output value. </p>
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| 326 | <dl class="params"><dt>Parameters</dt><dd>
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| 327 | <table class="params">
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| 328 | <tr><td class="paramname">index</td><td>output index, between 0 and nb_out-1</td></tr>
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| 329 | </table>
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| 330 | </dd>
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| 331 | </dl>
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| 332 | <dl class="section return"><dt>Returns</dt><dd>output value </dd></dl>
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| 333 |
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| 334 | </div>
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| 335 | </div>
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| 336 | <a class="anchor" id="a3c42c9c7ae276e10d2ebad3a6701210d"></a>
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| 337 | <div class="memitem">
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| 338 | <div class="memproto">
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| 339 | <table class="mlabels">
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| 340 | <tr>
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| 341 | <td class="mlabels-left">
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| 342 | <table class="memname">
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| 343 | <tr>
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| 344 | <td class="memname">virtual void flair::filter::ControlLaw::UseDefaultPlot </td>
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| 345 | <td>(</td>
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| 346 | <td class="paramtype">const <a class="el" href="classflair_1_1gui_1_1_layout_position.html">gui::LayoutPosition</a> * </td>
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| 347 | <td class="paramname"><em>position</em></td><td>)</td>
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| 348 | <td></td>
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| 349 | </tr>
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| 350 | </table>
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| 351 | </td>
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| 352 | <td class="mlabels-right">
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| 353 | <span class="mlabels"><span class="mlabel">virtual</span></span> </td>
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| 354 | </tr>
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| 355 | </table>
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| 356 | </div><div class="memdoc">
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| 357 |
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| 358 | <p>Use default plot. </p>
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| 359 | <p>Plot the output value at given position. <br />
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| 360 | Only Output(1,1) is plotted. <br />
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| 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 />
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| 362 | After calling this function, position will be deleted as it is no longer usefull. <br />
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| 363 | </p><dl class="params"><dt>Parameters</dt><dd>
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| 364 | <table class="params">
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| 365 | <tr><td class="paramname">position</td><td>position to display plot </td></tr>
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| 366 | </table>
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| 367 | </dd>
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| 368 | </dl>
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| 369 |
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| 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>
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| 371 |
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| 372 | </div>
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| 373 | </div>
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| 374 | <a class="anchor" id="a228f8bf6857d96fa015bec9e016d2132"></a>
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| 375 | <div class="memitem">
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| 376 | <div class="memproto">
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| 377 | <table class="memname">
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| 378 | <tr>
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| 379 | <td class="memname">void flair::filter::ControlLaw::Update </td>
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| 380 | <td>(</td>
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| 381 | <td class="paramtype"><a class="el" href="namespaceflair_1_1core.html#acc0fa041e08ecf73b2d1d723c339a736">core::Time</a> </td>
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| 382 | <td class="paramname"><em>time</em></td><td>)</td>
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| 383 | <td></td>
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| 384 | </tr>
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| 385 | </table>
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| 386 | </div><div class="memdoc">
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| 387 |
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| 388 | <p>Update using provided datas. </p>
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| 389 | <p>Reimplemented class must fill input matrix before calling this.</p>
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| 390 | <dl class="params"><dt>Parameters</dt><dd>
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| 391 | <table class="params">
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| 392 | <tr><td class="paramname">time</td><td>time of the update </td></tr>
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| 393 | </table>
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| 394 | </dd>
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| 395 | </dl>
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| 396 |
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| 397 | </div>
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| 398 | </div>
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| 399 | <a class="anchor" id="a0892ecd37930c5d92a41449ab6fa1f10"></a>
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| 400 | <div class="memitem">
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| 401 | <div class="memproto">
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| 402 | <table class="mlabels">
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| 403 | <tr>
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| 404 | <td class="mlabels-left">
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| 405 | <table class="memname">
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| 406 | <tr>
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| 407 | <td class="memname">virtual void flair::filter::ControlLaw::Reset </td>
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| 408 | <td>(</td>
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| 409 | <td class="paramtype">void </td>
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| 410 | <td class="paramname"></td><td>)</td>
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| 411 | <td></td>
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| 412 | </tr>
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| 413 | </table>
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| 414 | </td>
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| 415 | <td class="mlabels-right">
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| 416 | <span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span> </td>
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| 417 | </tr>
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| 418 | </table>
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| 419 | </div><div class="memdoc">
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| 420 |
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| 421 | <p>Reset the internal state of the control law. </p>
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| 422 | <p>Doesn't do anything by default </p>
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| 423 |
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| 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>
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| 425 |
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| 426 | </div>
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| 427 | </div>
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| 428 | <h2 class="groupheader">Member Data Documentation</h2>
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| 429 | <a class="anchor" id="a9877d488ad17a52affd8c68beca426d1"></a>
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| 430 | <div class="memitem">
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| 431 | <div class="memproto">
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| 432 | <table class="mlabels">
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| 433 | <tr>
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| 434 | <td class="mlabels-left">
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| 435 | <table class="memname">
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| 436 | <tr>
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| 437 | <td class="memname"><a class="el" href="classflair_1_1core_1_1cvmatrix.html">core::cvmatrix</a>* flair::filter::ControlLaw::input</td>
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| 438 | </tr>
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| 439 | </table>
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| 440 | </td>
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| 441 | <td class="mlabels-right">
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| 442 | <span class="mlabels"><span class="mlabel">protected</span></span> </td>
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| 443 | </tr>
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| 444 | </table>
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| 445 | </div><div class="memdoc">
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| 446 |
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| 447 | <p>input matrix </p>
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| 448 | <p>This matrix must be created by the reimplemented class. </p>
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| 449 |
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| 450 | </div>
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| 451 | </div>
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| 452 | <a class="anchor" id="aad8a67d158a1eda16ed53615e2511f97"></a>
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| 453 | <div class="memitem">
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| 454 | <div class="memproto">
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| 455 | <table class="mlabels">
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| 456 | <tr>
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| 457 | <td class="mlabels-left">
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| 458 | <table class="memname">
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| 459 | <tr>
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| 460 | <td class="memname"><a class="el" href="classflair_1_1core_1_1cvmatrix.html">core::cvmatrix</a>* flair::filter::ControlLaw::output</td>
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| 461 | </tr>
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| 462 | </table>
|
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| 463 | </td>
|
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| 464 | <td class="mlabels-right">
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| 465 | <span class="mlabels"><span class="mlabel">protected</span></span> </td>
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| 466 | </tr>
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| 467 | </table>
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| 468 | </div><div class="memdoc">
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| 469 |
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| 470 | <p>output matrix </p>
|
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| 471 | <p>This matrix is created by this class. Its size is (nb_out,1) and its type is io_data::Float. </p>
|
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| 472 |
|
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| 473 | </div>
|
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| 474 | </div>
|
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| 475 | </div><!-- contents -->
|
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| 476 | </div><!-- doc-content -->
|
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| 477 | <!-- start footer part -->
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| 478 | <div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
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| 479 | <ul>
|
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| 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>
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| 481 | <li class="footer">Generated on Thu Nov 3 2016 10:06:12 for Flair by
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| 482 | <a href="http://www.doxygen.org/index.html">
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| 483 | <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.9.1 </li>
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| 484 | </ul>
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| 485 | </div>
|
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| 486 | </body>
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| 487 | </html>
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