Last change
on this file since 7 was 7, checked in by Sanahuja Guillaume, 7 years ago |
filter and meta
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File size:
1.2 KB
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1 | // created: 2013/04/15
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2 | // filename: NestedSat.cpp
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3 | //
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4 | // author: Guillaume Sanahuja
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5 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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6 | //
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7 | // version: $Id: $
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8 | //
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9 | // purpose: Class defining a PID with saturations
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10 | //
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11 | //
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12 | /*********************************************************************/
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13 |
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14 | #include "NestedSat.h"
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15 | #include "NestedSat_impl.h"
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16 | #include <cvmatrix.h>
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17 | #include <Layout.h>
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18 | #include <LayoutPosition.h>
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19 | #include <Euler.h>
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20 |
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21 | using std::string;
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22 | using namespace flair::core;
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23 | using namespace flair::gui;
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24 |
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25 | namespace flair
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26 | {
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27 | namespace filter
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28 | {
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29 |
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30 | NestedSat::NestedSat(const LayoutPosition* position,string name) : ControlLaw(position->getLayout(),name)
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31 | {
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32 | pimpl_=new NestedSat_impl(this,position,name);
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33 | }
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34 |
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35 | NestedSat::~NestedSat(void)
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36 | {
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37 | delete pimpl_;
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38 | }
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39 |
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40 | void NestedSat::UpdateFrom(const io_data *data)
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41 | {
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42 | pimpl_->UpdateFrom(data);
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43 | ProcessUpdate(output);
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44 | }
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45 |
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46 | void NestedSat::SetValues(float p_ref,float p,float d)
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47 | {
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48 | input->SetValue(0,0,p_ref);
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49 | input->SetValue(1,0,p);
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50 | input->SetValue(2,0,d);
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51 | }
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52 | //TODO: add a combobox to choose between rad and deg
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53 | void NestedSat::ConvertSatFromDegToRad(void)
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54 | {
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55 | pimpl_->k=Euler::ToRadian(1);
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56 | }
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57 |
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58 | } // end namespace filter
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59 | } // end namespace flair
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