source: flair-dev/trunk/include/FlairFilter/PidThrust.h @ 13

Last change on this file since 13 was 13, checked in by Bayard Gildas, 5 years ago

formatting script + include reformatted

File size: 2.8 KB
Line 
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 PidThrust.h
7 * \brief Class defining a Pid for Thrust
8 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2014/11/07
10 * \version 4.0
11 */
12
13#ifndef PIDTHRUST_H
14#define PIDTHRUST_H
15
16#include <ControlLaw.h>
17
18namespace flair {
19namespace gui {
20class LayoutPosition;
21}
22}
23
24class PidThrust_impl;
25
26namespace flair {
27namespace filter {
28/*! \class PidThrust
29*
30* \brief Class defining a Pid for Thrust.\n
31* This Pid as an extra offset for compensating gravity.
32*/
33class PidThrust : public ControlLaw {
34  friend class ::PidThrust_impl;
35
36public:
37  /*!
38  * \brief Constructor
39  *
40  * Construct a PidThrust at given position
41  * The PidThrust will automatically be child of position->getLayout() Layout.
42  *After calling this function,
43  * position will be deleted as it is no longer usefull. \n
44  *
45  * \param position position to display settings
46  * \param name name
47  */
48  PidThrust(const gui::LayoutPosition *position, std::string name);
49
50  /*!
51  * \brief Destructor
52  *
53  */
54  ~PidThrust();
55
56  /*!
57  * \brief Reset integral and offset to 0
58  *
59  */
60  void Reset(void);
61
62  /*!
63  * \brief Reset integral to 0
64  *
65  */
66  void ResetI(void);
67
68  /*!
69  * \brief Reset offset to 0
70  *
71  */
72  void ResetOffset(void);
73
74  /*!
75  * \brief Set offset to specified value in ground station
76  *
77  */
78  void SetOffset(void);
79
80  /*!
81  * \brief Get offset
82  *
83  * \return current offset
84  */
85  float GetOffset(void);
86
87  /*!
88  * \brief Step up the offset according to specified value in ground station
89  *
90  * \return false if offset is at its maximum (1) value, true otherwise
91  */
92  bool OffsetStepUp(void);
93
94  /*!
95  * \brief Step down the offset according to specified value in ground station
96  *
97  * \return false if offset is at its minimum (specified in ground station)
98  *value, true otherwise
99  */
100  bool OffsetStepDown(void);
101
102  /*!
103  * \brief Set input values
104  *
105  * \param p proportional value
106  * \param d derivative value
107  */
108  void SetValues(float p, float d);
109
110  /*!
111  * \brief Use default plot
112  *
113  * Plot the output values at position. \n
114  * Plot consists of 4 curves: proportional part,
115  * derivative part, integral part and
116  * the sum of the three. \n
117  * After calling this function, position will be deleted as it is no longer
118  *usefull. \n
119  *
120  * \param position position to display plot
121  */
122  void UseDefaultPlot(const gui::LayoutPosition *position);
123
124private:
125  /*!
126  * \brief Update using provided datas
127  *
128  * Reimplemented from IODevice.
129  *
130  * \param data data from the parent to process
131  */
132  void UpdateFrom(const core::io_data *data);
133
134  PidThrust_impl *pimpl_;
135};
136} // end namespace filter
137} // end namespace flair
138#endif // PIDTHRUST_H
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