source: flair-src/trunk/lib/FlairFilter/src/Pid.cpp @ 15

Last change on this file since 15 was 15, checked in by Bayard Gildas, 5 years ago

sources reformatted with flair-format-dir script

File size: 1.2 KB
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[10]1// %flair:license{
[15]2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
[10]4// %flair:license}
[7]5//  created:    2011/05/01
6//  filename:   Pid.cpp
7//
8//  author:     Guillaume Sanahuja
9//              Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11//  version:    $Id: $
12//
13//  purpose:    Class defining a PID
14//
15//
16/*********************************************************************/
17
18#include "Pid.h"
19#include "Pid_impl.h"
20#include <cvmatrix.h>
21#include <Layout.h>
22#include <LayoutPosition.h>
23
24using std::string;
25using namespace flair::core;
26using namespace flair::gui;
27
[15]28namespace flair {
29namespace filter {
[7]30
[15]31Pid::Pid(const LayoutPosition *position, string name)
32    : ControlLaw(position->getLayout(), name) {
33  pimpl_ = new Pid_impl(this, position, name);
[7]34}
35
[15]36Pid::~Pid(void) { delete pimpl_; }
[7]37
[15]38void Pid::UseDefaultPlot(const gui::LayoutPosition *position) {
39  pimpl_->UseDefaultPlot(position);
[7]40}
41
42void Pid::Reset(void) {
[15]43  pimpl_->i = 0;
44  pimpl_->first_update = true;
[7]45}
46
47void Pid::UpdateFrom(const io_data *data) {
[15]48  pimpl_->UpdateFrom(data);
49  ProcessUpdate(output);
[7]50}
51
[15]52void Pid::SetValues(float p, float d) {
53  input->SetValue(0, 0, p);
54  input->SetValue(1, 0, d);
[7]55}
56
57} // end namespace filter
58} // end namespace flair
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