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

Last change on this file since 10 was 10, checked in by Sanahuja Guillaume, 7 years ago

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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/*!
6 * \file ControlLaw.h
7 * \brief Base class for control law
8 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2014/04/30
10 * \version 4.0
11 */
12
13#ifndef CONTROLLAW_H
14#define CONTROLLAW_H
15
16#include <IODevice.h>
17
18namespace flair {
19 namespace gui {
20 class LayoutPosition;
21 }
22 namespace core {
23 class cvmatrix;
24 }
25}
26
27namespace flair { namespace filter {
28 /*! \class ControlLaw
29 *
30 * \brief Base class for control law
31 * input must be created by reimplemented class.\n
32 * output is created by this class, it is of size (nb_out,1) and type float.\n
33 * see constructor for nb_out
34 */
35 class ControlLaw : public core::IODevice {
36 public:
37 /*!
38 * \brief Constructor
39 *
40 * Construct a ControlLaw
41 *
42 * \param parent parent
43 * \param name name
44 * \param nb_out number of output
45 */
46 ControlLaw(const core::Object* parent,std::string name,uint32_t nb_out=1);
47
48 /*!
49 * \brief Destructor
50 *
51 */
52 ~ControlLaw();
53
54 /*!
55 * \brief Output value
56 *
57 * \param index output index, between 0 and nb_out-1
58 *
59 * \return output value
60 */
61 float Output(uint32_t index=0) const;
62
63 /*!
64 * \brief Use default plot
65 *
66 * Plot the output value at given position. \n
67 * Only Output(1,1) is plotted. \n
68 * In case of a mutliple output ControlLaw, this function should be reimplemented. \n
69 * After calling this function, position will be deleted as it is no longer usefull. \n
70 *
71 * \param position position to display plot
72 */
73 virtual void UseDefaultPlot(const gui::LayoutPosition* position);
74
75 /*!
76 * \brief Update using provided datas
77 *
78 * Reimplemented class must fill input matrix before calling this.
79 *
80 * \param time time of the update
81 */
82 void Update(core::Time time);
83
84 /*!
85 * \brief Reset the internal state of the control law
86 *
87 * Doesn't do anything by default
88 *
89 */
90 virtual void Reset() {};
91
92 protected:
93 /*!
94 * \brief input matrix
95 *
96 * This matrix must be created by the reimplemented class.
97 *
98 */
99 core::cvmatrix *input;
100
101 /*!
102 * \brief output matrix
103 *
104 * This matrix is created by this class. Its size is (nb_out,1) and its type
105 * is io_data::Float.
106 *
107 */
108 core::cvmatrix *output;
109
110 private:
111 /*!
112 * \brief Update using provided datas
113 *
114 * Reimplemented from IODevice.
115 *
116 * \param data data from the parent to process
117 */
118 virtual void UpdateFrom(const core::io_data *data)=0;
119 };
120} // end namespace filter
121} // end namespace flair
122#endif // CONTROLLAW_H
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