source: flair-dev/trunk/doc/Flair/classflair_1_1filter_1_1_control_law.html @ 44

Last change on this file since 44 was 44, checked in by Sanahuja Guillaume, 4 years ago

m

File size: 37.2 KB
Line 
1<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
2<html xmlns="http://www.w3.org/1999/xhtml">
3<head>
4<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
5<meta http-equiv="X-UA-Compatible" content="IE=9"/>
6<meta name="generator" content="Doxygen 1.8.9.1"/>
7<title>Flair: flair::filter::ControlLaw Class Reference</title>
8<link href="tabs.css" rel="stylesheet" type="text/css"/>
9<script type="text/javascript" src="jquery.js"></script>
10<script type="text/javascript" src="dynsections.js"></script>
11<link href="navtree.css" rel="stylesheet" type="text/css"/>
12<script type="text/javascript" src="resize.js"></script>
13<script type="text/javascript" src="navtreedata.js"></script>
14<script type="text/javascript" src="navtree.js"></script>
15<script type="text/javascript">
16  $(document).ready(initResizable);
17  $(window).load(resizeHeight);
18</script>
19<link href="search/search.css" rel="stylesheet" type="text/css"/>
20<script type="text/javascript" src="search/searchdata.js"></script>
21<script type="text/javascript" src="search/search.js"></script>
22<script type="text/javascript">
23  $(document).ready(function() { init_search(); });
24</script>
25<link href="doxygen.css" rel="stylesheet" type="text/css" />
26</head>
27<body>
28<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
29<div id="titlearea">
30<table cellspacing="0" cellpadding="0">
31 <tbody>
32 <tr style="height: 56px;">
33  <td id="projectlogo"><img alt="Logo" src="logo_hds.png"/></td>
34  <td style="padding-left: 0.5em;">
35   <div id="projectname">Flair
36   </div>
37   <div id="projectbrief">Framework Libre Air</div>
38  </td>
39 </tr>
40 </tbody>
41</table>
42</div>
43<!-- end header part -->
44<!-- Generated by Doxygen 1.8.9.1 -->
45<script type="text/javascript">
46var searchBox = new SearchBox("searchBox", "search",false,'Search');
47</script>
48  <div id="navrow1" class="tabs">
49    <ul class="tablist">
50      <li><a href="index.html"><span>Main&#160;Page</span></a></li>
51      <li><a href="namespaces.html"><span>Namespaces</span></a></li>
52      <li class="current"><a href="annotated.html"><span>Classes</span></a></li>
53      <li><a href="files.html"><span>Files</span></a></li>
54      <li>
55        <div id="MSearchBox" class="MSearchBoxInactive">
56        <span class="left">
57          <img id="MSearchSelect" src="search/mag_sel.png"
58               onmouseover="return searchBox.OnSearchSelectShow()"
59               onmouseout="return searchBox.OnSearchSelectHide()"
60               alt=""/>
61          <input type="text" id="MSearchField" value="Search" accesskey="S"
62               onfocus="searchBox.OnSearchFieldFocus(true)" 
63               onblur="searchBox.OnSearchFieldFocus(false)" 
64               onkeyup="searchBox.OnSearchFieldChange(event)"/>
65          </span><span class="right">
66            <a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="search/close.png" alt=""/></a>
67          </span>
68        </div>
69      </li>
70    </ul>
71  </div>
72  <div id="navrow2" class="tabs2">
73    <ul class="tablist">
74      <li><a href="annotated.html"><span>Class&#160;List</span></a></li>
75      <li><a href="classes.html"><span>Class&#160;Index</span></a></li>
76      <li><a href="hierarchy.html"><span>Class&#160;Hierarchy</span></a></li>
77      <li><a href="functions.html"><span>Class&#160;Members</span></a></li>
78    </ul>
79  </div>
80</div><!-- top -->
81<div id="side-nav" class="ui-resizable side-nav-resizable">
82  <div id="nav-tree">
83    <div id="nav-tree-contents">
84      <div id="nav-sync" class="sync"></div>
85    </div>
86  </div>
87  <div id="splitbar" style="-moz-user-select:none;" 
88       class="ui-resizable-handle">
89  </div>
90</div>
91<script type="text/javascript">
92$(document).ready(function(){initNavTree('classflair_1_1filter_1_1_control_law.html','');});
93</script>
94<div id="doc-content">
95<!-- window showing the filter options -->
96<div id="MSearchSelectWindow"
97     onmouseover="return searchBox.OnSearchSelectShow()"
98     onmouseout="return searchBox.OnSearchSelectHide()"
99     onkeydown="return searchBox.OnSearchSelectKey(event)">
100</div>
101
102<!-- iframe showing the search results (closed by default) -->
103<div id="MSearchResultsWindow">
104<iframe src="javascript:void(0)" frameborder="0" 
105        name="MSearchResults" id="MSearchResults">
106</iframe>
107</div>
108
109<div class="header">
110  <div class="summary">
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>
116</div><!--header-->
117<div class="contents">
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 Thu Jan 5 2017 11:01:22 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>
481</div>
482</body>
483</html>
Note: See TracBrowser for help on using the repository browser.