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 PidThrust.h |
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7 | * \brief Class defining a Pid for Thrust |
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8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253 |
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9 | * \date 2014/11/07 |
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10 | * \version 4.0 |
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11 | */ |
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12 | |
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13 | #ifndef PIDTHRUST_H |
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14 | #define PIDTHRUST_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 | namespace gui { |
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20 | class LayoutPosition; |
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21 | } |
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22 | } |
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23 | |
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24 | class PidThrust_impl; |
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25 | |
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26 | namespace flair { |
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27 | namespace filter { |
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28 | /*! \class PidThrust |
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29 | * |
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30 | * \brief Class defining a Pid for Thrust.\n |
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31 | * This Pid as an extra offset for compensating gravity. |
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32 | */ |
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33 | class PidThrust : public ControlLaw { |
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34 | friend class ::PidThrust_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 PidThrust at given position |
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41 | * The PidThrust will automatically be child of position->getLayout() Layout. |
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42 | *After calling this function, |
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43 | * position will be deleted as it is no longer usefull. \n |
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44 | * |
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45 | * \param position position to display settings |
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46 | * \param name name |
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47 | */ |
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48 | PidThrust(const gui::LayoutPosition *position, std::string name); |
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49 | |
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50 | /*! |
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51 | * \brief Destructor |
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52 | * |
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53 | */ |
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54 | ~PidThrust(); |
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55 | |
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56 | /*! |
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57 | * \brief Reset integral and offset to 0 |
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58 | * |
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59 | */ |
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60 | void Reset(void); |
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61 | |
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62 | /*! |
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63 | * \brief Reset integral to 0 |
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64 | * |
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65 | */ |
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66 | void ResetI(void); |
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67 | |
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68 | /*! |
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69 | * \brief Reset offset to 0 |
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70 | * |
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71 | */ |
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72 | void ResetOffset(void); |
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73 | |
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74 | /*! |
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75 | * \brief Set offset to specified value in ground station |
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76 | * |
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77 | */ |
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78 | void SetOffset(void); |
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79 | |
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80 | /*! |
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81 | * \brief Get offset |
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82 | * |
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83 | * \return current offset |
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84 | */ |
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85 | float GetOffset(void); |
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86 | |
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87 | /*! |
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88 | * \brief Step up the offset according to specified value in ground station |
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89 | * |
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90 | * \return false if offset is at its maximum (1) value, true otherwise |
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91 | */ |
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92 | bool OffsetStepUp(void); |
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93 | |
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94 | /*! |
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95 | * \brief Step down the offset according to specified value in ground station |
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96 | * |
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97 | * \return false if offset is at its minimum (specified in ground station) |
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98 | *value, true otherwise |
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99 | */ |
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100 | bool OffsetStepDown(void); |
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101 | |
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102 | /*! |
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103 | * \brief Set input values |
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104 | * |
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105 | * \param p proportional value |
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106 | * \param d derivative value |
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107 | */ |
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108 | void SetValues(float p, float d); |
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109 | |
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110 | /*! |
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111 | * \brief Use default plot |
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112 | * |
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113 | * Plot the output values at position. \n |
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114 | * Plot consists of 4 curves: proportional part, |
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115 | * derivative part, integral part and |
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116 | * the sum of the three. \n |
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117 | * After calling this function, position will be deleted as it is no longer |
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118 | *usefull. \n |
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119 | * |
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120 | * \param position position to display plot |
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121 | */ |
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122 | void UseDefaultPlot(const gui::LayoutPosition *position); |
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123 | |
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124 | private: |
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125 | /*! |
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126 | * \brief Update using provided datas |
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127 | * |
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128 | * Reimplemented from IODevice. |
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129 | * |
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130 | * \param data data from the parent to process |
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131 | */ |
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132 | void UpdateFrom(const core::io_data *data); |
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133 | |
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134 | PidThrust_impl *pimpl_; |
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135 | }; |
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136 | } // end namespace filter |
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137 | } // end namespace flair |
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138 | #endif // PIDTHRUST_H |
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