source: flair-src/trunk/lib/FlairFilter/src/ControlLaw.cpp @ 10

Last change on this file since 10 was 10, checked in by Sanahuja Guillaume, 6 years ago

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File size: 1.7 KB
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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//  created:    2014/04/30
6//  filename:   ControlLaw.cpp
7//
8//  author:     Guillaume Sanahuja
9//              Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11//  version:    $Id: $
12//
13//  purpose:    Base class for control law
14//
15//
16/*********************************************************************/
17
18#include "ControlLaw.h"
19#include <cvmatrix.h>
20#include <cvmatrix_descriptor.h>
21#include <DataPlot1D.h>
22#include <sstream>
23
24using std::string;
25using namespace flair::core;
26using namespace flair::gui;
27
28namespace flair {
29namespace filter {
30
31ControlLaw::ControlLaw(const Object* parent,string name,uint32_t nb_out) : IODevice(parent,name) {
32    if(nb_out==1) {
33        output=new cvmatrix(this,nb_out,1,floatType,name);
34    } else {
35        cvmatrix_descriptor* desc=new cvmatrix_descriptor(nb_out,1);
36        for(int i=0;i<nb_out;i++) {
37            std::stringstream ss;
38            ss << i;
39            desc->SetElementName(i,0,ss.str());
40        }
41        output=new cvmatrix(this,desc,floatType,name);
42    }
43
44    input=NULL;
45    AddDataToLog(output);
46}
47
48ControlLaw::~ControlLaw(void) {
49
50}
51
52void ControlLaw::Update(Time time) {
53    input->SetDataTime(time);
54    UpdateFrom(input);
55}
56
57float ControlLaw::Output(uint32_t index) const {
58    return output->Value(index,0);
59}
60
61void ControlLaw::UseDefaultPlot(const LayoutPosition* position) {
62    if(output->Rows()!=1) Warn("Output size is different from 1. Plotting only Output(1,1).\n");
63
64    DataPlot1D *plot=new DataPlot1D(position,ObjectName(),-1,1);
65    plot->AddCurve(output->Element(0));
66}
67} // end namespace filter
68} // end namespace flair
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