| 1 | // %flair:license{
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| 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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| 4 | // %flair:license}
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| 5 | /*!
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| 6 | * \file ControlLaw.h
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| 7 | * \brief Base class for control law
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| 8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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| 9 | * \date 2014/04/30
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| 10 | * \version 4.0
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| 11 | */
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| 12 |
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| 13 | #ifndef CONTROLLAW_H
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| 14 | #define CONTROLLAW_H
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| 15 |
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| 16 | #include <IODevice.h>
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| 17 |
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| 18 | namespace flair {
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| 19 | namespace gui {
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| 20 | class LayoutPosition;
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| 21 | }
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| 22 | namespace core {
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| 23 | class cvmatrix;
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| 24 | }
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| 25 | }
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| 26 |
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| 27 | namespace flair { namespace filter {
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| 28 | /*! \class ControlLaw
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| 29 | *
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| 30 | * \brief Base class for control law
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| 31 | * input must be created by reimplemented class.\n
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| 32 | * output is created by this class, it is of size (nb_out,1) and type float.\n
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| 33 | * see constructor for nb_out
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| 34 | */
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| 35 | class ControlLaw : public core::IODevice {
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| 36 | public:
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| 37 | /*!
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| 38 | * \brief Constructor
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| 39 | *
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| 40 | * Construct a ControlLaw
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| 41 | *
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| 42 | * \param parent parent
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| 43 | * \param name name
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| 44 | * \param nb_out number of output
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| 45 | */
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| 46 | ControlLaw(const core::Object* parent,std::string name,uint32_t nb_out=1);
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| 47 |
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| 48 | /*!
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| 49 | * \brief Destructor
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| 50 | *
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| 51 | */
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| 52 | ~ControlLaw();
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| 53 |
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| 54 | /*!
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| 55 | * \brief Output value
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| 56 | *
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| 57 | * \param index output index, between 0 and nb_out-1
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| 58 | *
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| 59 | * \return output value
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| 60 | */
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| 61 | float Output(uint32_t index=0) const;
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| 62 |
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| 63 | /*!
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| 64 | * \brief Use default plot
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| 65 | *
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| 66 | * Plot the output value at given position. \n
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| 67 | * Only Output(1,1) is plotted. \n
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| 68 | * In case of a mutliple output ControlLaw, this function should be reimplemented. \n
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| 69 | * After calling this function, position will be deleted as it is no longer usefull. \n
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| 70 | *
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| 71 | * \param position position to display plot
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| 72 | */
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| 73 | virtual void UseDefaultPlot(const gui::LayoutPosition* position);
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| 74 |
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| 75 | /*!
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| 76 | * \brief Update using provided datas
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| 77 | *
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| 78 | * Reimplemented class must fill input matrix before calling this.
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| 79 | *
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| 80 | * \param time time of the update
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| 81 | */
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| 82 | void Update(core::Time time);
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| 83 |
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| 84 | /*!
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| 85 | * \brief Reset the internal state of the control law
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| 86 | *
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| 87 | * Doesn't do anything by default
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| 88 | *
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| 89 | */
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| 90 | virtual void Reset() {};
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| 91 |
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| 92 | protected:
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| 93 | /*!
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| 94 | * \brief input matrix
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| 95 | *
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| 96 | * This matrix must be created by the reimplemented class.
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| 97 | *
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| 98 | */
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| 99 | core::cvmatrix *input;
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| 100 |
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| 101 | /*!
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| 102 | * \brief output matrix
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| 103 | *
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| 104 | * This matrix is created by this class. Its size is (nb_out,1) and its type
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| 105 | * is io_data::Float.
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| 106 | *
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| 107 | */
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| 108 | core::cvmatrix *output;
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| 109 |
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| 110 | private:
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| 111 | /*!
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| 112 | * \brief Update using provided datas
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| 113 | *
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| 114 | * Reimplemented from IODevice.
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| 115 | *
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| 116 | * \param data data from the parent to process
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| 117 | */
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| 118 | virtual void UpdateFrom(const core::io_data *data)=0;
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| 119 | };
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| 120 | } // end namespace filter
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| 121 | } // end namespace flair
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| 122 | #endif // CONTROLLAW_H
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