source: flair-src/trunk/lib/FlairFilter/src/ControlLaw.cpp @ 15

Last change on this file since 15 was 15, checked in by Bayard Gildas, 5 years ago

sources reformatted with flair-format-dir script

File size: 1.7 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//  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)
32    : IODevice(parent, name) {
33  if (nb_out == 1) {
34    output = new cvmatrix(this, nb_out, 1, floatType, name);
35  } else {
36    cvmatrix_descriptor *desc = new cvmatrix_descriptor(nb_out, 1);
37    for (int i = 0; i < nb_out; i++) {
38      std::stringstream ss;
39      ss << i;
40      desc->SetElementName(i, 0, ss.str());
41    }
42    output = new cvmatrix(this, desc, floatType, name);
43  }
44
45  input = NULL;
46  AddDataToLog(output);
47}
48
49ControlLaw::~ControlLaw(void) {}
50
51void ControlLaw::Update(Time time) {
52  input->SetDataTime(time);
53  UpdateFrom(input);
54}
55
56float ControlLaw::Output(uint32_t index) const {
57  return output->Value(index, 0);
58}
59
60void ControlLaw::UseDefaultPlot(const LayoutPosition *position) {
61  if (output->Rows() != 1)
62    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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