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

//  created:    2013/04/15

//  filename:   NestedSat.cpp

//

//  author:     Guillaume Sanahuja

//              Copyright Heudiasyc UMR UTC/CNRS 7253

//

//  version:    $Id: $

//

//  purpose:    Class defining a PID with saturations

//

//

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



#include "NestedSat.h"

#include "NestedSat_impl.h"

#include <cvmatrix.h>

#include <Layout.h>

#include <LayoutPosition.h>

#include <Euler.h>



using std::string;

using namespace flair::core;

using namespace flair::gui;



namespace flair

{

namespace filter

{



NestedSat::NestedSat(const LayoutPosition* position,string name) : ControlLaw(position->getLayout(),name)

{

    pimpl_=new NestedSat_impl(this,position,name);

}



NestedSat::~NestedSat(void)

{

    delete pimpl_;

}



void NestedSat::UpdateFrom(const io_data *data)

{

    pimpl_->UpdateFrom(data);

    ProcessUpdate(output);

}



void NestedSat::SetValues(float p_ref,float p,float d)

{

    input->SetValue(0,0,p_ref);

    input->SetValue(1,0,p);

    input->SetValue(2,0,d);

}

//TODO: add a combobox to choose between rad and deg

void NestedSat::ConvertSatFromDegToRad(void)

{

    pimpl_->k=Euler::ToRadian(1);

}



} // end namespace filter

} // end namespace flair