source: flair-dev/trunk/include/FlairFilter/Pid.h @ 76

Last change on this file since 76 was 76, checked in by Sanahuja Guillaume, 2 years ago

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File size: 2.0 KB
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1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5/*!
6 * \file Pid.h
7 * \brief Class defining a PID
8 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2011/05/01
10 * \version 4.0
11 */
12
13#ifndef PID_H
14#define PID_H
15
16#include <ControlLaw.h>
17
18namespace flair {
19namespace gui {
20class LayoutPosition;
21}
22}
23
24class Pid_impl;
25
26namespace flair {
27namespace filter {
28/*! \class Pid
29*
30* \brief Class defining a PID
31*/
32class Pid : public ControlLaw {
33  friend class ::Pid_impl;
34
35public:
36  /*!
37  * \brief Constructor
38  *
39  * Construct a PID at given position. \n
40  * The PID will automatically be child of position->getLayout() Layout. After
41  *calling this function,
42  * position will be deleted as it is no longer usefull. \n
43  *
44  * \param position position to display settings
45  * \param name name
46  */
47  Pid(const gui::LayoutPosition *position, std::string name);
48
49  /*!
50  * \brief Destructor
51  *
52  */
53  ~Pid();
54
55  /*!
56  * \brief Reset integral
57  *
58  */
59  void Reset(void);
60 
61   /*!
62  * \brief Get intergral part
63  *
64  * \return current integral part
65  */
66  float GetIntegral(void) const;
67
68
69  /*!
70  * \brief Set input values
71  *
72  * \param p proportional value
73  * \param d derivative value
74  */
75  void SetValues(float p, float d);
76
77  /*!
78  * \brief Use default plot
79  *
80  * Plot the output values at position. \n
81  * Plot consists of 4 curves: proportional part,
82  * derivative part, integral part and
83  * the sum of the three. \n
84  * After calling this function, position will be deleted as it is no longer
85  *usefull. \n
86  *
87  * \param position position to display plot
88  */
89  void UseDefaultPlot(const gui::LayoutPosition *position);
90
91private:
92  /*!
93  * \brief Update using provided datas
94  *
95  * Reimplemented from IODevice.
96  *
97  * \param data data from the parent to process
98  */
99  void UpdateFrom(const core::io_data *data);
100
101  Pid_impl *pimpl_;
102};
103} // end namespace filter
104} // end namespace flair
105#endif // PID_H
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