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