source: flair-dev/trunk/include/FlairFilter/Pid.h @ 9

Last change on this file since 9 was 9, checked in by Sanahuja Guillaume, 5 years ago

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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
19{
20    namespace gui
21    {
22        class LayoutPosition;
23    }
24}
25
26class Pid_impl;
27
28namespace flair
29{
30namespace filter
31{
32    /*! \class Pid
33    *
34    * \brief Class defining a PID
35    */
36    class Pid : public ControlLaw
37    {
38        friend class ::Pid_impl;
39
40        public:
41            /*!
42            * \brief Constructor
43            *
44            * Construct a PID at given position. \n
45            * The PID will automatically be child of position->getLayout() Layout. After calling this function,
46            * position will be deleted as it is no longer usefull. \n
47            *
48            * \param position position to display settings
49            * \param name name
50            */
51            Pid(const gui::LayoutPosition* position,std::string name);
52
53            /*!
54            * \brief Destructor
55            *
56            */
57            ~Pid();
58
59            /*!
60            * \brief Reset integral
61            *
62            */
63            void Reset(void);
64
65            /*!
66            * \brief Set input values
67            *
68            * \param p proportional value
69            * \param d derivative value
70            */
71            void SetValues(float p,float d);
72
73            /*!
74            * \brief Use default plot
75            *
76            * Plot the output values at position. \n
77            * Plot consists of 4 curves: proportional part,
78            * derivative part, integral part and
79            * the sum of the three. \n
80            * After calling this function, position will be deleted as it is no longer usefull. \n
81            *
82            * \param position position to display plot
83            */
84            void UseDefaultPlot(const gui::LayoutPosition* position);
85
86        private:
87            /*!
88            * \brief Update using provided datas
89            *
90            * Reimplemented from IODevice.
91            *
92            * \param data data from the parent to process
93            */
94            void UpdateFrom(const core::io_data *data);
95
96            Pid_impl* pimpl_;
97    };
98} // end namespace filter
99} // end namespace flair
100#endif // PID_H
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