Last change
on this file since 339 was 324, checked in by Sanahuja Guillaume, 5 years ago |
removing opencv dependency
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File size:
1.2 KB
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[324] | 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 NestedSat.h
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| 7 | * \brief Classe permettant le calcul d'un Pid avec saturations
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| 8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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| 9 | * \date 2013/04/15
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| 10 | * \version 4.0
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| 11 | */
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| 12 |
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| 13 | #ifndef NESTEDSAT_IMPL_H
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| 14 | #define NESTEDSAT_IMPL_H
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| 15 |
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| 16 | #include <Object.h>
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| 17 |
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| 18 | namespace flair {
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| 19 | namespace core {
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| 20 | class io_data;
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| 21 | }
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| 22 | namespace gui {
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| 23 | class Layout;
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| 24 | class LayoutPosition;
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| 25 | class DoubleSpinBox;
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| 26 | class DataPlot1D;
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| 27 | }
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| 28 | namespace filter {
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| 29 | class NestedSat;
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| 30 | }
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| 31 | }
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| 32 |
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| 33 | /*! \class NestedSat
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| 34 | * \brief Classe permettant le calcul d'un Pid avec saturations
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| 35 | */
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| 36 | class NestedSat_impl {
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| 37 | public:
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| 38 | NestedSat_impl(flair::filter::NestedSat *self,
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| 39 | const flair::gui::LayoutPosition *position, std::string name);
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| 40 | ~NestedSat_impl();
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| 41 | float Value(void);
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| 42 | void UseDefaultPlot(const flair::gui::Layout *layout, int row, int col);
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| 43 | void UpdateFrom(const flair::core::io_data *data);
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| 44 | void ConvertSatFromDegToRad(void);
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| 45 | float k;
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| 46 |
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| 47 | private:
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| 48 | flair::filter::NestedSat *self;
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| 49 | flair::gui::DoubleSpinBox *kp, *kd, *sat, *dsat, *usat;
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| 50 | flair::gui::DataPlot1D *plot;
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| 51 | float Sat(float value, float borne);
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| 52 | };
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| 53 |
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| 54 | #endif // NESTEDSAT_IMPL_H
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