source: flair-src/trunk/lib/FlairFilter/src/ControlLaw.cpp@ 7

//  created:    2014/04/30

//  filename:   ControlLaw.cpp

//

//  author:     Guillaume Sanahuja

//              Copyright Heudiasyc UMR UTC/CNRS 7253

//

//  version:    $Id: $

//

//  purpose:    Base class for control law

//

//

/*********************************************************************/



#include "ControlLaw.h"

#include <cvmatrix.h>

#include <cvmatrix_descriptor.h>

#include <DataPlot1D.h>

#include <sstream>



using std::string;

using namespace flair::core;

using namespace flair::gui;



namespace flair {

namespace filter {



ControlLaw::ControlLaw(const Object* parent,string name,uint32_t nb_out) : IODevice(parent,name) {

    if(nb_out==1) {

        output=new cvmatrix(this,nb_out,1,floatType,name);

    } else {

        cvmatrix_descriptor* desc=new cvmatrix_descriptor(nb_out,1);

        for(int i=0;i<nb_out;i++) {

            std::stringstream ss;

            ss << i;

            desc->SetElementName(i,0,ss.str());

        }

        output=new cvmatrix(this,desc,floatType,name);

    }



    input=NULL;

    AddDataToLog(output);

}



ControlLaw::~ControlLaw(void) {



}



void ControlLaw::Update(Time time) {

    input->SetDataTime(time);

    UpdateFrom(input);

}



float ControlLaw::Output(uint32_t index) const {

    return output->Value(index,0);

}



void ControlLaw::UseDefaultPlot(const LayoutPosition* position) {

    if(output->Rows()!=1) Warn("Output size is different from 1. Plotting only Output(1,1).\n");



    DataPlot1D *plot=new DataPlot1D(position,ObjectName(),-1,1);

    plot->AddCurve(output->Element(0));

}

} // end namespace filter

} // end namespace flair