| [10] | 1 | // %flair:license{
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| [15] | 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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| [10] | 4 | // %flair:license}
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| [7] | 5 | /*!
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| 6 | * \file ControlLaw.h
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| 7 | * \brief Base class for control law
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| 8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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| 9 | * \date 2014/04/30
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| 10 | * \version 4.0
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| 11 | */
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| 12 |
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| 13 | #ifndef CONTROLLAW_H
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| 14 | #define CONTROLLAW_H
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| 15 |
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| 16 | #include <IODevice.h>
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| 17 |
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| 18 | namespace flair {
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| [15] | 19 | namespace gui {
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| 20 | class LayoutPosition;
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| [7] | 21 | }
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| [15] | 22 | namespace core {
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| [214] | 23 | class Matrix;
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| [15] | 24 | }
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| 25 | }
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| [7] | 26 |
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| [15] | 27 | namespace flair {
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| 28 | namespace filter {
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| 29 | /*! \class ControlLaw
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| 30 | *
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| 31 | * \brief Base class for control law
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| 32 | * input must be created by reimplemented class.\n
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| 33 | * output is created by this class, it is of size (nb_out,1) and type float.\n
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| 34 | * see constructor for nb_out
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| 35 | */
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| 36 | class ControlLaw : public core::IODevice {
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| 37 | public:
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| 38 | /*!
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| 39 | * \brief Constructor
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| 40 | *
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| 41 | * Construct a ControlLaw
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| 42 | *
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| 43 | * \param parent parent
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| 44 | * \param name name
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| 45 | * \param nb_out number of output
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| 46 | */
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| 47 | ControlLaw(const core::Object *parent, std::string name, uint32_t nb_out = 1);
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| [7] | 48 |
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| [15] | 49 | /*!
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| 50 | * \brief Destructor
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| 51 | *
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| 52 | */
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| 53 | ~ControlLaw();
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| [7] | 54 |
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| [15] | 55 | /*!
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| 56 | * \brief Output value
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| 57 | *
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| 58 | * \param index output index, between 0 and nb_out-1
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| 59 | *
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| 60 | * \return output value
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| 61 | */
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| 62 | float Output(uint32_t index = 0) const;
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| [7] | 63 |
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| [15] | 64 | /*!
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| 65 | * \brief Use default plot
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| 66 | *
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| 67 | * Plot the output value at given position. \n
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| 68 | * Only Output(1,1) is plotted. \n
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| 69 | * In case of a mutliple output ControlLaw, this function should be
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| 70 | *reimplemented. \n
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| 71 | * After calling this function, position will be deleted as it is no longer
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| 72 | *usefull. \n
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| 73 | *
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| 74 | * \param position position to display plot
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| 75 | */
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| 76 | virtual void UseDefaultPlot(const gui::LayoutPosition *position);
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| [7] | 77 |
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| [15] | 78 | /*!
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| 79 | * \brief Update using provided datas
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| 80 | *
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| 81 | * Reimplemented class must fill input matrix before calling this.
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| 82 | *
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| 83 | * \param time time of the update
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| 84 | */
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| 85 | void Update(core::Time time);
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| [7] | 86 |
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| [15] | 87 | /*!
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| 88 | * \brief Reset the internal state of the control law
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| 89 | *
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| [216] | 90 | * Does nothing by default
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| [15] | 91 | *
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| 92 | */
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| 93 | virtual void Reset(){};
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| [7] | 94 |
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| [15] | 95 | protected:
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| 96 | /*!
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| 97 | * \brief input matrix
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| 98 | *
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| 99 | * This matrix must be created by the reimplemented class.
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| 100 | *
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| 101 | */
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| [214] | 102 | core::Matrix *input;
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| [7] | 103 |
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| [15] | 104 | /*!
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| 105 | * \brief output matrix
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| 106 | *
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| 107 | * This matrix is created by this class. Its size is (nb_out,1) and its type
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| 108 | * is io_data::Float.
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| 109 | *
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| 110 | */
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| [214] | 111 | core::Matrix *output;
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| [7] | 112 |
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| [15] | 113 | private:
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| 114 | /*!
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| 115 | * \brief Update using provided datas
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| 116 | *
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| 117 | * Reimplemented from IODevice.
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| 118 | *
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| 119 | * \param data data from the parent to process
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| 120 | */
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| 121 | virtual void UpdateFrom(const core::io_data *data) = 0;
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| 122 | };
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| [7] | 123 | } // end namespace filter
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| 124 | } // end namespace flair
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| 125 | #endif // CONTROLLAW_H
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