source: flair-dev/trunk/include/FlairFilter/NestedSat.h@ 6

/*!
 * \file NestedSat.h
 * \brief  Class defining a PID with saturations
 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
 * \date 2013/04/15
 * \version 4.0
 */

#ifndef NESTEDSAT_H
#define NESTEDSAT_H

#include <ControlLaw.h>

namespace flair
{
    namespace gui
    {
        class Layout;
        class LayoutPosition;
    }
}

class NestedSat_impl;

namespace flair
{
namespace filter
{
    /*! \class NestedSat
    *
    * \brief  Class defining a PID with saturations
    *
    * The output of this control law is calculated
    * as follows: \n
    * p_ref=Sat(p_ref,k*sat_ref) \n
    * d_ref=Sat[(p_ref-p)*kp,k*sat_dref] \n
    * law=Sat[(d-d_ref)*kd,sat_u] \n
    * where p, p_ref and d are input values (see SetValues()), \n
    * where sat_ref, sat_dref and sat_u are settings availables on the ground station, \n
    * where k is a conversion factor (see ConvertSatFromDegToRad()).
    */
    class NestedSat : public ControlLaw
    {
        friend class ::NestedSat_impl;

        public:
            /*!
            * \brief Constructor
            *
            * Construct a NestedSat at given place position. \n
            * The NestedSat will automatically be child of position->getLayout() Layout. After calling this function,
            * position will be deleted as it is no longer usefull. \n
            *
            * \param position position to display settings
            * \param name name
            */
            NestedSat(const gui::LayoutPosition* position,std::string name);

            /*!
            * \brief Destructor
            *
            */
            ~NestedSat();

            /*!
            * \brief Set input values
            *
            * \param p_ref proportional reference
            * \param p proportional value
            * \param d derivative value
            */
            void SetValues(float p_ref,float p,float d);

            /*!
            * \brief Convert saturation parameters in radians
            *
            * If this function is called, saturation parameters
            * on the ground station will be interpreted as degrees. \n
            * Thus, an internal conversion from degrees to radians will
            * be done (k=PI/180).
            */
            void ConvertSatFromDegToRad(void);

        private:
            /*!
            * \brief Update using provided datas
            *
            * Reimplemented from IODevice.
            *
            * \param data data from the parent to process
            */
            void UpdateFrom(const core::io_data *data);

            NestedSat_impl* pimpl_;
    };
} // end namespace filter
} // end namespace flair
#endif // NESTEDSAT_H