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

// %flair:license{

// This file is part of the Flair framework distributed under the

// CECILL-C License, Version 1.0.

// %flair:license}

//  created:    2011/05/01

//  filename:   Pid.cpp

//

//  author:     Guillaume Sanahuja

//              Copyright Heudiasyc UMR UTC/CNRS 7253

//

//  version:    $Id: $

//

//  purpose:    Class defining a PID

//

//

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



#include "Pid.h"

#include "Pid_impl.h"

#include <cvmatrix.h>

#include <Layout.h>

#include <LayoutPosition.h>



using std::string;

using namespace flair::core;

using namespace flair::gui;



namespace flair { namespace filter {



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

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

}



Pid::~Pid(void) {

    delete pimpl_;

}



void Pid::UseDefaultPlot(const gui::LayoutPosition* position) {

    pimpl_->UseDefaultPlot(position);

}



void Pid::Reset(void) {

    pimpl_->i=0;

    pimpl_->first_update=true;

}



void Pid::UpdateFrom(const io_data *data) {

    pimpl_->UpdateFrom(data);

    ProcessUpdate(output);

}



void Pid::SetValues(float p,float d) {

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

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

}





} // end namespace filter

} // end namespace flair