//  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