| 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 NestedSat.h
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| 7 | * \brief Class defining a PID with saturations
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| 8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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| 9 | * \date 2013/04/15
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| 10 | * \version 4.0
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| 11 | */
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| 12 |
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| 13 | #ifndef NESTEDSAT_H
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| 14 | #define NESTEDSAT_H
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| 15 |
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| 16 | #include <ControlLaw.h>
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| 17 |
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| 18 | namespace flair
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| 19 | {
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| 20 | namespace gui
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| 21 | {
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| 22 | class Layout;
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| 23 | class LayoutPosition;
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| 24 | }
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| 25 | }
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| 26 |
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| 27 | class NestedSat_impl;
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| 28 |
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| 29 | namespace flair
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| 30 | {
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| 31 | namespace filter
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| 32 | {
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| 33 | /*! \class NestedSat
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| 34 | *
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| 35 | * \brief Class defining a PID with saturations
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| 36 | *
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| 37 | * The output of this control law is calculated
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| 38 | * as follows: \n
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| 39 | * p_ref=Sat(p_ref,k*sat_ref) \n
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| 40 | * d_ref=Sat[(p_ref-p)*kp,k*sat_dref] \n
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| 41 | * law=Sat[(d-d_ref)*kd,sat_u] \n
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| 42 | * where p, p_ref and d are input values (see SetValues()), \n
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| 43 | * where sat_ref, sat_dref and sat_u are settings availables on the ground station, \n
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| 44 | * where k is a conversion factor (see ConvertSatFromDegToRad()).
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| 45 | */
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| 46 | class NestedSat : public ControlLaw
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| 47 | {
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| 48 | friend class ::NestedSat_impl;
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| 49 |
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| 50 | public:
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| 51 | /*!
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| 52 | * \brief Constructor
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| 53 | *
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| 54 | * Construct a NestedSat at given place position. \n
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| 55 | * The NestedSat will automatically be child of position->getLayout() Layout. After calling this function,
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| 56 | * position will be deleted as it is no longer usefull. \n
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| 57 | *
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| 58 | * \param position position to display settings
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| 59 | * \param name name
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| 60 | */
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| 61 | NestedSat(const gui::LayoutPosition* position,std::string name);
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| 62 |
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| 63 | /*!
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| 64 | * \brief Destructor
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| 65 | *
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| 66 | */
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| 67 | ~NestedSat();
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| 68 |
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| 69 | /*!
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| 70 | * \brief Set input values
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| 71 | *
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| 72 | * \param p_ref proportional reference
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| 73 | * \param p proportional value
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| 74 | * \param d derivative value
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| 75 | */
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| 76 | void SetValues(float p_ref,float p,float d);
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| 77 |
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| 78 | /*!
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| 79 | * \brief Convert saturation parameters in radians
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| 80 | *
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| 81 | * If this function is called, saturation parameters
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| 82 | * on the ground station will be interpreted as degrees. \n
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| 83 | * Thus, an internal conversion from degrees to radians will
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| 84 | * be done (k=PI/180).
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| 85 | */
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| 86 | void ConvertSatFromDegToRad(void);
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| 87 |
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| 88 | private:
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| 89 | /*!
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| 90 | * \brief Update using provided datas
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| 91 | *
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| 92 | * Reimplemented from IODevice.
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| 93 | *
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| 94 | * \param data data from the parent to process
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| 95 | */
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| 96 | void UpdateFrom(const core::io_data *data);
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| 97 |
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| 98 | NestedSat_impl* pimpl_;
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| 99 | };
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| 100 | } // end namespace filter
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| 101 | } // end namespace flair
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| 102 | #endif // NESTEDSAT_H
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