source: flair-src/trunk/lib/FlairFilter/src/NestedSat_impl.cpp@ 10

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

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File size: 2.0 KB
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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// created: 2013/04/15
6// filename: NestedSat_impl.cpp
7//
8// author: Guillaume Sanahuja
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: objet permettant le calcul d'un Pid avec saturations
14//
15//
16/*********************************************************************/
17
18#include "NestedSat_impl.h"
19#include "NestedSat.h"
20#include <cvmatrix.h>
21#include <Layout.h>
22#include <GroupBox.h>
23#include <DoubleSpinBox.h>
24
25using std::string;
26using namespace flair::core;
27using namespace flair::gui;
28using namespace flair::filter;
29
30NestedSat_impl::NestedSat_impl(NestedSat* self,const LayoutPosition* position,string name)
31{
32 this->self=self;
33 k=1;
34
35 //init matrix
36 self->input=new cvmatrix(self,3,1,floatType,name);
37
38 GroupBox* reglages_groupbox=new GroupBox(position,name);
39 sat=new DoubleSpinBox(reglages_groupbox->NewRow(),"sat ref:",0,9000000,1);
40 kp=new DoubleSpinBox(reglages_groupbox->NewRow(),"kp:",0,9000000,1);
41 dsat=new DoubleSpinBox(reglages_groupbox->NewRow(),"sat dref:",0,9000000,1);
42 kd=new DoubleSpinBox(reglages_groupbox->NewRow(),"kd:",0,9000000,0.1);
43 usat=new DoubleSpinBox(reglages_groupbox->NewRow(),"sat u:",0,1,.1);
44}
45
46NestedSat_impl::~NestedSat_impl(void)
47{
48}
49
50void NestedSat_impl::UpdateFrom(const io_data *data)
51{
52 float cons,dcons,law;
53 cvmatrix *input=(cvmatrix*)data;
54
55 input->GetMutex();
56
57 cons=Sat(input->ValueNoMutex(0,0),k*sat->Value());
58 dcons=(cons-input->ValueNoMutex(1,0))*kp->Value();
59 dcons=Sat(dcons,k*dsat->Value());
60 law=(input->ValueNoMutex(2,0)-dcons)*kd->Value();
61 law=Sat(law,usat->Value());
62
63 input->ReleaseMutex();
64
65 self->output->SetValue(0,0,law);
66 self->output->SetDataTime(data->DataTime());
67}
68
69float NestedSat_impl::Sat(float value,float borne)
70{
71 if(value<-borne) return -borne;
72 if(value>borne) return borne;
73 return value;
74}
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