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