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111<a href="#pub-methods">Public Member Functions</a> &#124;
112<a href="classflair_1_1filter_1_1_nested_sat-members.html">List of all members</a>  </div>
113  <div class="headertitle">
114<div class="title">flair::filter::NestedSat Class Reference</div>  </div>
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117
118<p>Class defining a PID with saturations. 
119 <a href="classflair_1_1filter_1_1_nested_sat.html#details">More...</a></p>
120
121<p><code>#include &lt;<a class="el" href="_nested_sat_8h_source.html">NestedSat.h</a>&gt;</code></p>
122<div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
123  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Inheritance diagram for flair::filter::NestedSat:</div>
124<div id="dynsection-0-summary" class="dynsummary" style="display:block;">
125</div>
126<div id="dynsection-0-content" class="dyncontent" style="display:none;">
127 <div class="center">
128  <img src="classflair_1_1filter_1_1_nested_sat.png" usemap="#flair::filter::NestedSat_map" alt=""/>
129  <map id="flair::filter::NestedSat_map" name="flair::filter::NestedSat_map">
130<area 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..." alt="flair::filter::ControlLaw" shape="rect" coords="0,112,135,136"/>
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133</map>
134 </div></div>
135<table class="memberdecls">
136<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
137Public Member Functions</h2></td></tr>
138<tr class="memitem:a9a3ffb0952adc785f5b3f1e92d1a02cd"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1filter_1_1_nested_sat.html#a9a3ffb0952adc785f5b3f1e92d1a02cd">NestedSat</a> (const <a class="el" href="classflair_1_1gui_1_1_layout_position.html">gui::LayoutPosition</a> *position, std::string name)</td></tr>
139<tr class="memdesc:a9a3ffb0952adc785f5b3f1e92d1a02cd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor.  <a href="#a9a3ffb0952adc785f5b3f1e92d1a02cd">More...</a><br /></td></tr>
140<tr class="separator:a9a3ffb0952adc785f5b3f1e92d1a02cd"><td class="memSeparator" colspan="2">&#160;</td></tr>
141<tr class="memitem:a899e174f442b871ecf4000f720fb11e9"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1filter_1_1_nested_sat.html#a899e174f442b871ecf4000f720fb11e9">~NestedSat</a> ()</td></tr>
142<tr class="memdesc:a899e174f442b871ecf4000f720fb11e9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor.  <a href="#a899e174f442b871ecf4000f720fb11e9">More...</a><br /></td></tr>
143<tr class="separator:a899e174f442b871ecf4000f720fb11e9"><td class="memSeparator" colspan="2">&#160;</td></tr>
144<tr class="memitem:a327a0a6562f638c4c4c7b9d14053cab4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1filter_1_1_nested_sat.html#a327a0a6562f638c4c4c7b9d14053cab4">SetValues</a> (float p_ref, float p, float d)</td></tr>
145<tr class="memdesc:a327a0a6562f638c4c4c7b9d14053cab4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set input values.  <a href="#a327a0a6562f638c4c4c7b9d14053cab4">More...</a><br /></td></tr>
146<tr class="separator:a327a0a6562f638c4c4c7b9d14053cab4"><td class="memSeparator" colspan="2">&#160;</td></tr>
147<tr class="memitem:a828d39a93d7e31ae92f82f52fbea6c73"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1filter_1_1_nested_sat.html#a828d39a93d7e31ae92f82f52fbea6c73">ConvertSatFromDegToRad</a> (void)</td></tr>
148<tr class="memdesc:a828d39a93d7e31ae92f82f52fbea6c73"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convert saturation parameters in radians.  <a href="#a828d39a93d7e31ae92f82f52fbea6c73">More...</a><br /></td></tr>
149<tr class="separator:a828d39a93d7e31ae92f82f52fbea6c73"><td class="memSeparator" colspan="2">&#160;</td></tr>
150<tr class="inherit_header pub_methods_classflair_1_1filter_1_1_control_law"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classflair_1_1filter_1_1_control_law')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classflair_1_1filter_1_1_control_law.html">flair::filter::ControlLaw</a></td></tr>
151<tr class="memitem:abd6d4ee32a9e01a2d1b0513a0aadafcb inherit pub_methods_classflair_1_1filter_1_1_control_law"><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>
152<tr class="memdesc:abd6d4ee32a9e01a2d1b0513a0aadafcb inherit pub_methods_classflair_1_1filter_1_1_control_law"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor.  <a href="#abd6d4ee32a9e01a2d1b0513a0aadafcb">More...</a><br /></td></tr>
153<tr class="separator:abd6d4ee32a9e01a2d1b0513a0aadafcb inherit pub_methods_classflair_1_1filter_1_1_control_law"><td class="memSeparator" colspan="2">&#160;</td></tr>
154<tr class="memitem:a62210ace4d3338cbc528ed712e72ac27 inherit pub_methods_classflair_1_1filter_1_1_control_law"><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>
155<tr class="memdesc:a62210ace4d3338cbc528ed712e72ac27 inherit pub_methods_classflair_1_1filter_1_1_control_law"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor.  <a href="#a62210ace4d3338cbc528ed712e72ac27">More...</a><br /></td></tr>
156<tr class="separator:a62210ace4d3338cbc528ed712e72ac27 inherit pub_methods_classflair_1_1filter_1_1_control_law"><td class="memSeparator" colspan="2">&#160;</td></tr>
157<tr class="memitem:ace241d108bd0213135dbd6a5a561d0cf inherit pub_methods_classflair_1_1filter_1_1_control_law"><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>
158<tr class="memdesc:ace241d108bd0213135dbd6a5a561d0cf inherit pub_methods_classflair_1_1filter_1_1_control_law"><td class="mdescLeft">&#160;</td><td class="mdescRight">Output value.  <a href="#ace241d108bd0213135dbd6a5a561d0cf">More...</a><br /></td></tr>
159<tr class="separator:ace241d108bd0213135dbd6a5a561d0cf inherit pub_methods_classflair_1_1filter_1_1_control_law"><td class="memSeparator" colspan="2">&#160;</td></tr>
160<tr class="memitem:a3c42c9c7ae276e10d2ebad3a6701210d inherit pub_methods_classflair_1_1filter_1_1_control_law"><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>
161<tr class="memdesc:a3c42c9c7ae276e10d2ebad3a6701210d inherit pub_methods_classflair_1_1filter_1_1_control_law"><td class="mdescLeft">&#160;</td><td class="mdescRight">Use default plot.  <a href="#a3c42c9c7ae276e10d2ebad3a6701210d">More...</a><br /></td></tr>
162<tr class="separator:a3c42c9c7ae276e10d2ebad3a6701210d inherit pub_methods_classflair_1_1filter_1_1_control_law"><td class="memSeparator" colspan="2">&#160;</td></tr>
163<tr class="memitem:a228f8bf6857d96fa015bec9e016d2132 inherit pub_methods_classflair_1_1filter_1_1_control_law"><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>
164<tr class="memdesc:a228f8bf6857d96fa015bec9e016d2132 inherit pub_methods_classflair_1_1filter_1_1_control_law"><td class="mdescLeft">&#160;</td><td class="mdescRight">Update using provided datas.  <a href="#a228f8bf6857d96fa015bec9e016d2132">More...</a><br /></td></tr>
165<tr class="separator:a228f8bf6857d96fa015bec9e016d2132 inherit pub_methods_classflair_1_1filter_1_1_control_law"><td class="memSeparator" colspan="2">&#160;</td></tr>
166<tr class="memitem:a0892ecd37930c5d92a41449ab6fa1f10 inherit pub_methods_classflair_1_1filter_1_1_control_law"><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>
167<tr class="memdesc:a0892ecd37930c5d92a41449ab6fa1f10 inherit pub_methods_classflair_1_1filter_1_1_control_law"><td class="mdescLeft">&#160;</td><td class="mdescRight">Reset the internal state of the control law.  <a href="#a0892ecd37930c5d92a41449ab6fa1f10">More...</a><br /></td></tr>
168<tr class="separator:a0892ecd37930c5d92a41449ab6fa1f10 inherit pub_methods_classflair_1_1filter_1_1_control_law"><td class="memSeparator" colspan="2">&#160;</td></tr>
169<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>
170<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>
171<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>
172<tr class="separator:a9693b497752b466891eaafeb34bec4d3 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="memSeparator" colspan="2">&#160;</td></tr>
173<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>
174<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>
175<tr class="separator:a05246988b486def40926d8491e1bcc5f inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="memSeparator" colspan="2">&#160;</td></tr>
176<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>
177<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>
178<tr class="separator:af7b42de6bb3893df860063228b55c229 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="memSeparator" colspan="2">&#160;</td></tr>
179<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>
180<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>
181<tr class="separator:a2e0b7af75abdbf39843d8bf2e45f08b9 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="memSeparator" colspan="2">&#160;</td></tr>
182<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>
183<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>
184<tr class="separator:a12d811c6926fb86da6b47f889109da66 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="memSeparator" colspan="2">&#160;</td></tr>
185<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>
186<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>
187<tr class="separator:aee7828ae2eece2bace8e476dacc2bc12 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="memSeparator" colspan="2">&#160;</td></tr>
188<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>
189virtual <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>
190<tr class="separator:a75e82ca2ae2fb7c39d973dd3d16bc698 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="memSeparator" colspan="2">&#160;</td></tr>
191<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>
192virtual <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>
193<tr class="separator:aa325be57d48b268006120dde75dd65cc inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="memSeparator" colspan="2">&#160;</td></tr>
194<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>
195<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>
196<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>
197<tr class="separator:aec92383fd5bf68d9df10414862b7e95c inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
198<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>
199<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>
200<tr class="separator:aa2bde0e6677bbef705c96c93cb06ad09 inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
201<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>
202<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>
203<tr class="separator:a9b0344dff7e1c05424d9152c8274523a inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
204<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>
205<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>
206<tr class="separator:a609a250ec037fbcaf8957c8f1dcbfc53 inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
207<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>
208<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>
209<tr class="separator:a360c112cc3017a5152ebf6e84d2efa70 inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
210<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>
211<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>
212<tr class="separator:ae22db4d723ec2d50b3ba48f26a6a770c inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
213<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>
214<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>
215<tr class="separator:a344f81cd35805a9501098bf727ac1a10 inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
216<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>
217<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>
218<tr class="separator:af001feba14fc053aa778e61080a0b4cf inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
219<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>
220<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>
221<tr class="separator:a168b18451b2ee6126e1e81d452005ff6 inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
222<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>
223<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>
224<tr class="separator:a3ca9694d29ec2b0491739879685df5ca inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
225<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>
226<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>
227<tr class="separator:a36cdd7f556e78b1bddd1d1fe4264bb85 inherit pub_methods_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
228</table><table class="memberdecls">
229<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
230Additional Inherited Members</h2></td></tr>
231<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>
232<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,
233<b>Red</b> = 31,
234<b>Green</b> = 32,
235<b>Orange</b> = 33
236 }</td></tr>
237<tr class="separator:aed5fccda511f97487040fed29f4efc97 inherit pub_types_classflair_1_1core_1_1_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
238<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>
239<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>
240<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>
241<tr class="separator:a3df9057ae23eb34f1b1dae8e7a4a9efc inherit pro_methods_classflair_1_1core_1_1_i_o_device"><td class="memSeparator" colspan="2">&#160;</td></tr>
242<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>
243<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>
244<tr class="separator:a120fdcc3d50f6f076084cb6943fdf412 inherit pro_methods_classflair_1_1core_1_1_i_o_device"><td class="memSeparator" colspan="2">&#160;</td></tr>
245<tr class="inherit_header pro_attribs_classflair_1_1filter_1_1_control_law"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classflair_1_1filter_1_1_control_law')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classflair_1_1filter_1_1_control_law.html">flair::filter::ControlLaw</a></td></tr>
246<tr class="memitem:ab88bfe866cc8f9794bda115d57139ab8 inherit pro_attribs_classflair_1_1filter_1_1_control_law"><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>
247<tr class="memdesc:ab88bfe866cc8f9794bda115d57139ab8 inherit pro_attribs_classflair_1_1filter_1_1_control_law"><td class="mdescLeft">&#160;</td><td class="mdescRight">input matrix  <a href="#ab88bfe866cc8f9794bda115d57139ab8">More...</a><br /></td></tr>
248<tr class="separator:ab88bfe866cc8f9794bda115d57139ab8 inherit pro_attribs_classflair_1_1filter_1_1_control_law"><td class="memSeparator" colspan="2">&#160;</td></tr>
249<tr class="memitem:ad0ec9102c1f3d5cea5e337ba02754f4b inherit pro_attribs_classflair_1_1filter_1_1_control_law"><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>
250<tr class="memdesc:ad0ec9102c1f3d5cea5e337ba02754f4b inherit pro_attribs_classflair_1_1filter_1_1_control_law"><td class="mdescLeft">&#160;</td><td class="mdescRight">output matrix  <a href="#ad0ec9102c1f3d5cea5e337ba02754f4b">More...</a><br /></td></tr>
251<tr class="separator:ad0ec9102c1f3d5cea5e337ba02754f4b inherit pro_attribs_classflair_1_1filter_1_1_control_law"><td class="memSeparator" colspan="2">&#160;</td></tr>
252</table>
253<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
254<div class="textblock"><p>Class defining a PID with saturations. </p>
255<p>The output of this control law is calculated as follows: <br />
256 p_ref=Sat(p_ref,k*sat_ref) <br />
257 d_ref=Sat[(p_ref-p)*kp,k*sat_dref] <br />
258 law=Sat[(d-d_ref)*kd,sat_u] <br />
259 where p, p_ref and d are input values (see <a class="el" href="classflair_1_1filter_1_1_nested_sat.html#a327a0a6562f638c4c4c7b9d14053cab4" title="Set input values. ">SetValues()</a>), <br />
260 where sat_ref, sat_dref and sat_u are settings availables on the ground station, <br />
261 where k is a conversion factor (see <a class="el" href="classflair_1_1filter_1_1_nested_sat.html#a828d39a93d7e31ae92f82f52fbea6c73" title="Convert saturation parameters in radians. ">ConvertSatFromDegToRad()</a>). </p>
262</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
263<a class="anchor" id="a9a3ffb0952adc785f5b3f1e92d1a02cd"></a>
264<div class="memitem">
265<div class="memproto">
266      <table class="memname">
267        <tr>
268          <td class="memname">flair::filter::NestedSat::NestedSat </td>
269          <td>(</td>
270          <td class="paramtype">const <a class="el" href="classflair_1_1gui_1_1_layout_position.html">gui::LayoutPosition</a> *&#160;</td>
271          <td class="paramname"><em>position</em>, </td>
272        </tr>
273        <tr>
274          <td class="paramkey"></td>
275          <td></td>
276          <td class="paramtype">std::string&#160;</td>
277          <td class="paramname"><em>name</em>&#160;</td>
278        </tr>
279        <tr>
280          <td></td>
281          <td>)</td>
282          <td></td><td></td>
283        </tr>
284      </table>
285</div><div class="memdoc">
286
287<p>Constructor. </p>
288<p>Construct a <a class="el" href="classflair_1_1filter_1_1_nested_sat.html" title="Class defining a PID with saturations. ">NestedSat</a> at given place position. <br />
289 The <a class="el" href="classflair_1_1filter_1_1_nested_sat.html" title="Class defining a PID with saturations. ">NestedSat</a> will automatically be child of position-&gt;getLayout() Layout. After calling this function, position will be deleted as it is no longer usefull. <br />
290 </p><dl class="params"><dt>Parameters</dt><dd>
291  <table class="params">
292    <tr><td class="paramname">position</td><td>position to display settings </td></tr>
293    <tr><td class="paramname">name</td><td>name </td></tr>
294  </table>
295  </dd>
296</dl>
297
298</div>
299</div>
300<a class="anchor" id="a899e174f442b871ecf4000f720fb11e9"></a>
301<div class="memitem">
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303      <table class="memname">
304        <tr>
305          <td class="memname">flair::filter::NestedSat::~NestedSat </td>
306          <td>(</td>
307          <td class="paramname"></td><td>)</td>
308          <td></td>
309        </tr>
310      </table>
311</div><div class="memdoc">
312
313<p>Destructor. </p>
314
315</div>
316</div>
317<h2 class="groupheader">Member Function Documentation</h2>
318<a class="anchor" id="a327a0a6562f638c4c4c7b9d14053cab4"></a>
319<div class="memitem">
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323          <td class="memname">void flair::filter::NestedSat::SetValues </td>
324          <td>(</td>
325          <td class="paramtype">float&#160;</td>
326          <td class="paramname"><em>p_ref</em>, </td>
327        </tr>
328        <tr>
329          <td class="paramkey"></td>
330          <td></td>
331          <td class="paramtype">float&#160;</td>
332          <td class="paramname"><em>p</em>, </td>
333        </tr>
334        <tr>
335          <td class="paramkey"></td>
336          <td></td>
337          <td class="paramtype">float&#160;</td>
338          <td class="paramname"><em>d</em>&#160;</td>
339        </tr>
340        <tr>
341          <td></td>
342          <td>)</td>
343          <td></td><td></td>
344        </tr>
345      </table>
346</div><div class="memdoc">
347
348<p>Set input values. </p>
349<dl class="params"><dt>Parameters</dt><dd>
350  <table class="params">
351    <tr><td class="paramname">p_ref</td><td>proportional reference </td></tr>
352    <tr><td class="paramname">p</td><td>proportional value </td></tr>
353    <tr><td class="paramname">d</td><td>derivative value </td></tr>
354  </table>
355  </dd>
356</dl>
357
358</div>
359</div>
360<a class="anchor" id="a828d39a93d7e31ae92f82f52fbea6c73"></a>
361<div class="memitem">
362<div class="memproto">
363      <table class="memname">
364        <tr>
365          <td class="memname">void flair::filter::NestedSat::ConvertSatFromDegToRad </td>
366          <td>(</td>
367          <td class="paramtype">void&#160;</td>
368          <td class="paramname"></td><td>)</td>
369          <td></td>
370        </tr>
371      </table>
372</div><div class="memdoc">
373
374<p>Convert saturation parameters in radians. </p>
375<p>If this function is called, saturation parameters on the ground station will be interpreted as degrees. <br />
376Thus, an internal conversion from degrees to radians will be done (k=PI/180). </p>
377
378</div>
379</div>
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