source: flair-dev/trunk/include/FlairFilter/PidThrust.h @ 68

Last change on this file since 68 was 68, checked in by Sanahuja Guillaume, 3 years ago

maj for armv5te

File size: 3.0 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 the control law
58  * equivalent to:
59  * ResetI();
60  * SetDefaultOffset();
61  * SetValues(0,0);
62  *
63  */
64  void Reset(void);
65 
66  /*!
67  * \brief Reset integral to 0
68  *
69  */
70  void ResetI(void);
71
72  /*!
73  * \brief Set offset to a specified value
74  *
75  * \param value desired value
76  */
77  void SetOffset(float value);
78 
79  /*!
80  * \brief Set offset to specified value in ground station
81  *
82  */
83  void SetDefaultOffset(void);
84
85  /*!
86  * \brief Get offset
87  *
88  * \return current offset
89  */
90  float GetOffset(void) const;
91 
92  /*!
93  * \brief Get intergral part
94  *
95  * \return current integral part
96  */
97  float GetIntegral(void) const;
98
99  /*!
100  * \brief Step up the offset according to specified value in ground station
101  *
102  * \return false if offset is at its maximum (1) value, true otherwise
103  */
104  bool OffsetStepUp(void);
105
106  /*!
107  * \brief Step down the offset according to specified value in ground station
108  *
109  * \return false if offset is at its minimum (specified in ground station)
110  *value, true otherwise
111  */
112  bool OffsetStepDown(void);
113
114  /*!
115  * \brief Set input values
116  *
117  * \param p proportional value
118  * \param d derivative value
119  */
120  void SetValues(float p, float d);
121
122  /*!
123  * \brief Use default plot
124  *
125  * Plot the output values at position. \n
126  * Plot consists of 4 curves: proportional part,
127  * derivative part, integral part and
128  * the sum of the three. \n
129  * After calling this function, position will be deleted as it is no longer
130  *usefull. \n
131  *
132  * \param position position to display plot
133  */
134  void UseDefaultPlot(const gui::LayoutPosition *position);
135
136private:
137  /*!
138  * \brief Update using provided datas
139  *
140  * Reimplemented from IODevice.
141  *
142  * \param data data from the parent to process
143  */
144  void UpdateFrom(const core::io_data *data);
145
146  PidThrust_impl *pimpl_;
147};
148} // end namespace filter
149} // end namespace flair
150#endif // PIDTHRUST_H
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