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

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

lic

File size: 1.2 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: 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
28namespace flair { namespace filter {
29
30Pid::Pid(const LayoutPosition* position,string name) : ControlLaw(position->getLayout(),name) {
31 pimpl_=new Pid_impl(this,position,name);
32}
33
34Pid::~Pid(void) {
35 delete pimpl_;
36}
37
38void Pid::UseDefaultPlot(const gui::LayoutPosition* position) {
39 pimpl_->UseDefaultPlot(position);
40}
41
42void Pid::Reset(void) {
43 pimpl_->i=0;
44 pimpl_->first_update=true;
45}
46
47void Pid::UpdateFrom(const io_data *data) {
48 pimpl_->UpdateFrom(data);
49 ProcessUpdate(output);
50}
51
52void Pid::SetValues(float p,float d) {
53 input->SetValue(0,0,p);
54 input->SetValue(1,0,d);
55}
56
57
58} // end namespace filter
59} // end namespace flair
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