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111<a href="#pub-methods">Public Member Functions</a> &#124;
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113<a href="classflair_1_1filter_1_1_control_law-members.html">List of all members</a>  </div>
114  <div class="headertitle">
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118
119<p>Base class for control law input must be created by reimplemented class.<br />
120output is created by this class, it is of size (nb_out,1) and type float.<br />
121see constructor for nb_out. 
122 <a href="classflair_1_1filter_1_1_control_law.html#details">More...</a></p>
123
124<p><code>#include &lt;<a class="el" href="_control_law_8h_source.html">ControlLaw.h</a>&gt;</code></p>
125<div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
126  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Inheritance diagram for flair::filter::ControlLaw:</div>
127<div id="dynsection-0-summary" class="dynsummary" style="display:block;">
128</div>
129<div id="dynsection-0-content" class="dyncontent" style="display:none;">
130 <div class="center">
131  <img src="classflair_1_1filter_1_1_control_law.png" usemap="#flair::filter::ControlLaw_map" alt=""/>
132  <map id="flair::filter::ControlLaw_map" name="flair::filter::ControlLaw_map">
133<area href="classflair_1_1core_1_1_i_o_device.html" title="Abstract class for input/ouput system. " alt="flair::core::IODevice" shape="rect" coords="145,56,280,80"/>
134<area href="classflair_1_1core_1_1_object.html" title="Base class for all Framework&#39;s classes. " alt="flair::core::Object" shape="rect" coords="145,0,280,24"/>
135<area href="classflair_1_1filter_1_1_nested_sat.html" title="Class defining a PID with saturations. " alt="flair::filter::NestedSat" shape="rect" coords="0,168,135,192"/>
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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:aee7828ae2eece2bace8e476dacc2bc12 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_i_o_device.html#aee7828ae2eece2bace8e476dacc2bc12">IsReady</a> (void) const </td></tr>
178<tr class="memdesc:aee7828ae2eece2bace8e476dacc2bc12 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="mdescLeft">&#160;</td><td class="mdescRight">is device ready  <a href="#aee7828ae2eece2bace8e476dacc2bc12">More...</a><br /></td></tr>
179<tr class="separator:aee7828ae2eece2bace8e476dacc2bc12 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="memSeparator" colspan="2">&#160;</td></tr>
180<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>
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>GetInputDataType</b> () const </td></tr>
182<tr class="separator:a75e82ca2ae2fb7c39d973dd3d16bc698 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="memSeparator" colspan="2">&#160;</td></tr>
183<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>
184virtual <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>
185<tr class="separator:aa325be57d48b268006120dde75dd65cc inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="memSeparator" colspan="2">&#160;</td></tr>
186<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>
187<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>
188<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>
189<tr class="separator:aec92383fd5bf68d9df10414862b7e95c inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
190<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>
191<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>
192<tr class="separator:aa2bde0e6677bbef705c96c93cb06ad09 inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
193<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>
194<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>
195<tr class="separator:a9b0344dff7e1c05424d9152c8274523a inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
196<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>
197<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>
198<tr class="separator:a609a250ec037fbcaf8957c8f1dcbfc53 inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
199<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>
200<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>
201<tr class="separator:a360c112cc3017a5152ebf6e84d2efa70 inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
202<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>
203<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>
204<tr class="separator:ae22db4d723ec2d50b3ba48f26a6a770c inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
205<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>
206<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>
207<tr class="separator:a344f81cd35805a9501098bf727ac1a10 inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
208<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>
209<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>
210<tr class="separator:af001feba14fc053aa778e61080a0b4cf inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
211<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>
212<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>
213<tr class="separator:a168b18451b2ee6126e1e81d452005ff6 inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
214<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>
215<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>
216<tr class="separator:a3ca9694d29ec2b0491739879685df5ca inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
217<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>
218<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>
219<tr class="separator:a36cdd7f556e78b1bddd1d1fe4264bb85 inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
220</table><table class="memberdecls">
221<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
222Protected Attributes</h2></td></tr>
223<tr class="memitem:ab88bfe866cc8f9794bda115d57139ab8"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classflair_1_1core_1_1_matrix.html">core::Matrix</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1filter_1_1_control_law.html#ab88bfe866cc8f9794bda115d57139ab8">input</a></td></tr>
224<tr class="memdesc:ab88bfe866cc8f9794bda115d57139ab8"><td class="mdescLeft">&#160;</td><td class="mdescRight">input matrix  <a href="#ab88bfe866cc8f9794bda115d57139ab8">More...</a><br /></td></tr>
225<tr class="separator:ab88bfe866cc8f9794bda115d57139ab8"><td class="memSeparator" colspan="2">&#160;</td></tr>
226<tr class="memitem:ad0ec9102c1f3d5cea5e337ba02754f4b"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classflair_1_1core_1_1_matrix.html">core::Matrix</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1filter_1_1_control_law.html#ad0ec9102c1f3d5cea5e337ba02754f4b">output</a></td></tr>
227<tr class="memdesc:ad0ec9102c1f3d5cea5e337ba02754f4b"><td class="mdescLeft">&#160;</td><td class="mdescRight">output matrix  <a href="#ad0ec9102c1f3d5cea5e337ba02754f4b">More...</a><br /></td></tr>
228<tr class="separator:ad0ec9102c1f3d5cea5e337ba02754f4b"><td class="memSeparator" colspan="2">&#160;</td></tr>
229</table><table class="memberdecls">
230<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
231Additional Inherited Members</h2></td></tr>
232<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>
233<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,
234<b>Red</b> = 31,
235<b>Green</b> = 32,
236<b>Orange</b> = 33
237 }</td></tr>
238<tr class="separator:aed5fccda511f97487040fed29f4efc97 inherit pub_types_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
239<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>
240<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>
241<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>
242<tr class="separator:a3df9057ae23eb34f1b1dae8e7a4a9efc inherit pro_methods_classflair_1_1core_1_1_i_o_device"><td class="memSeparator" colspan="2">&#160;</td></tr>
243<tr class="memitem:a120fdcc3d50f6f076084cb6943fdf412 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#a120fdcc3d50f6f076084cb6943fdf412">SetIsReady</a> (bool status)</td></tr>
244<tr class="memdesc:a120fdcc3d50f6f076084cb6943fdf412 inherit pro_methods_classflair_1_1core_1_1_i_o_device"><td class="mdescLeft">&#160;</td><td class="mdescRight">set is ready  <a href="#a120fdcc3d50f6f076084cb6943fdf412">More...</a><br /></td></tr>
245<tr class="separator:a120fdcc3d50f6f076084cb6943fdf412 inherit pro_methods_classflair_1_1core_1_1_i_o_device"><td class="memSeparator" colspan="2">&#160;</td></tr>
246</table>
247<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
248<div class="textblock"><p>Base class for control law input must be created by reimplemented class.<br />
249output is created by this class, it is of size (nb_out,1) and type float.<br />
250see constructor for nb_out. </p>
251</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
252<a class="anchor" id="abd6d4ee32a9e01a2d1b0513a0aadafcb"></a>
253<div class="memitem">
254<div class="memproto">
255      <table class="memname">
256        <tr>
257          <td class="memname">flair::filter::ControlLaw::ControlLaw </td>
258          <td>(</td>
259          <td class="paramtype">const <a class="el" href="classflair_1_1core_1_1_object.html">core::Object</a> *&#160;</td>
260          <td class="paramname"><em>parent</em>, </td>
261        </tr>
262        <tr>
263          <td class="paramkey"></td>
264          <td></td>
265          <td class="paramtype">std::string&#160;</td>
266          <td class="paramname"><em>name</em>, </td>
267        </tr>
268        <tr>
269          <td class="paramkey"></td>
270          <td></td>
271          <td class="paramtype">uint32_t&#160;</td>
272          <td class="paramname"><em>nb_out</em> = <code>1</code>&#160;</td>
273        </tr>
274        <tr>
275          <td></td>
276          <td>)</td>
277          <td></td><td></td>
278        </tr>
279      </table>
280</div><div class="memdoc">
281
282<p>Constructor. </p>
283<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>
284<dl class="params"><dt>Parameters</dt><dd>
285  <table class="params">
286    <tr><td class="paramname">parent</td><td>parent </td></tr>
287    <tr><td class="paramname">name</td><td>name </td></tr>
288    <tr><td class="paramname">nb_out</td><td>number of output </td></tr>
289  </table>
290  </dd>
291</dl>
292
293</div>
294</div>
295<a class="anchor" id="a62210ace4d3338cbc528ed712e72ac27"></a>
296<div class="memitem">
297<div class="memproto">
298      <table class="memname">
299        <tr>
300          <td class="memname">flair::filter::ControlLaw::~ControlLaw </td>
301          <td>(</td>
302          <td class="paramname"></td><td>)</td>
303          <td></td>
304        </tr>
305      </table>
306</div><div class="memdoc">
307
308<p>Destructor. </p>
309
310</div>
311</div>
312<h2 class="groupheader">Member Function Documentation</h2>
313<a class="anchor" id="ace241d108bd0213135dbd6a5a561d0cf"></a>
314<div class="memitem">
315<div class="memproto">
316      <table class="memname">
317        <tr>
318          <td class="memname">float flair::filter::ControlLaw::Output </td>
319          <td>(</td>
320          <td class="paramtype">uint32_t&#160;</td>
321          <td class="paramname"><em>index</em> = <code>0</code></td><td>)</td>
322          <td> const</td>
323        </tr>
324      </table>
325</div><div class="memdoc">
326
327<p>Output value. </p>
328<dl class="params"><dt>Parameters</dt><dd>
329  <table class="params">
330    <tr><td class="paramname">index</td><td>output index, between 0 and nb_out-1</td></tr>
331  </table>
332  </dd>
333</dl>
334<dl class="section return"><dt>Returns</dt><dd>output value </dd></dl>
335
336</div>
337</div>
338<a class="anchor" id="a3c42c9c7ae276e10d2ebad3a6701210d"></a>
339<div class="memitem">
340<div class="memproto">
341<table class="mlabels">
342  <tr>
343  <td class="mlabels-left">
344      <table class="memname">
345        <tr>
346          <td class="memname">virtual void flair::filter::ControlLaw::UseDefaultPlot </td>
347          <td>(</td>
348          <td class="paramtype">const <a class="el" href="classflair_1_1gui_1_1_layout_position.html">gui::LayoutPosition</a> *&#160;</td>
349          <td class="paramname"><em>position</em></td><td>)</td>
350          <td></td>
351        </tr>
352      </table>
353  </td>
354  <td class="mlabels-right">
355<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
356  </tr>
357</table>
358</div><div class="memdoc">
359
360<p>Use default plot. </p>
361<p>Plot the output value at given position. <br />
362 Only Output(1,1) is plotted. <br />
363 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 />
364 After calling this function, position will be deleted as it is no longer usefull. <br />
365 </p><dl class="params"><dt>Parameters</dt><dd>
366  <table class="params">
367    <tr><td class="paramname">position</td><td>position to display plot </td></tr>
368  </table>
369  </dd>
370</dl>
371
372<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>
373
374</div>
375</div>
376<a class="anchor" id="a228f8bf6857d96fa015bec9e016d2132"></a>
377<div class="memitem">
378<div class="memproto">
379      <table class="memname">
380        <tr>
381          <td class="memname">void flair::filter::ControlLaw::Update </td>
382          <td>(</td>
383          <td class="paramtype"><a class="el" href="namespaceflair_1_1core.html#acc0fa041e08ecf73b2d1d723c339a736">core::Time</a>&#160;</td>
384          <td class="paramname"><em>time</em></td><td>)</td>
385          <td></td>
386        </tr>
387      </table>
388</div><div class="memdoc">
389
390<p>Update using provided datas. </p>
391<p>Reimplemented class must fill input matrix before calling this.</p>
392<dl class="params"><dt>Parameters</dt><dd>
393  <table class="params">
394    <tr><td class="paramname">time</td><td>time of the update </td></tr>
395  </table>
396  </dd>
397</dl>
398
399</div>
400</div>
401<a class="anchor" id="a0892ecd37930c5d92a41449ab6fa1f10"></a>
402<div class="memitem">
403<div class="memproto">
404<table class="mlabels">
405  <tr>
406  <td class="mlabels-left">
407      <table class="memname">
408        <tr>
409          <td class="memname">virtual void flair::filter::ControlLaw::Reset </td>
410          <td>(</td>
411          <td class="paramtype">void&#160;</td>
412          <td class="paramname"></td><td>)</td>
413          <td></td>
414        </tr>
415      </table>
416  </td>
417  <td class="mlabels-right">
418<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
419  </tr>
420</table>
421</div><div class="memdoc">
422
423<p>Reset the internal state of the control law. </p>
424<p>Does nothing by default </p>
425
426<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>
427
428</div>
429</div>
430<h2 class="groupheader">Member Data Documentation</h2>
431<a class="anchor" id="ab88bfe866cc8f9794bda115d57139ab8"></a>
432<div class="memitem">
433<div class="memproto">
434<table class="mlabels">
435  <tr>
436  <td class="mlabels-left">
437      <table class="memname">
438        <tr>
439          <td class="memname"><a class="el" href="classflair_1_1core_1_1_matrix.html">core::Matrix</a>* flair::filter::ControlLaw::input</td>
440        </tr>
441      </table>
442  </td>
443  <td class="mlabels-right">
444<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
445  </tr>
446</table>
447</div><div class="memdoc">
448
449<p>input matrix </p>
450<p>This matrix must be created by the reimplemented class. </p>
451
452</div>
453</div>
454<a class="anchor" id="ad0ec9102c1f3d5cea5e337ba02754f4b"></a>
455<div class="memitem">
456<div class="memproto">
457<table class="mlabels">
458  <tr>
459  <td class="mlabels-left">
460      <table class="memname">
461        <tr>
462          <td class="memname"><a class="el" href="classflair_1_1core_1_1_matrix.html">core::Matrix</a>* flair::filter::ControlLaw::output</td>
463        </tr>
464      </table>
465  </td>
466  <td class="mlabels-right">
467<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
468  </tr>
469</table>
470</div><div class="memdoc">
471
472<p>output matrix </p>
473<p>This matrix is created by this class. Its size is (nb_out,1) and its type is io_data::Float. </p>
474
475</div>
476</div>
477</div><!-- contents -->
478</div><!-- doc-content -->
479<!-- start footer part -->
480<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
481  <ul>
482    <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>
483    <li class="footer">Generated on Wed Jan 16 2019 09:54:10 for Flair by
484    <a href="http://www.doxygen.org/index.html">
485    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.9.1 </li>
486  </ul>
487</div>
488</body>
489</html>
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