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

// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
/*!
 * \file Pid.h
 * \brief Class defining a PID
 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
 * \date 2011/05/01
 * \version 4.0
 */

#ifndef PID_H
#define PID_H

#include <ControlLaw.h>

namespace flair
{
    namespace gui
    {
        class LayoutPosition;
    }
}

class Pid_impl;

namespace flair
{
namespace filter
{
    /*! \class Pid
    *
    * \brief Class defining a PID
    */
    class Pid : public ControlLaw
    {
        friend class ::Pid_impl;

        public:
            /*!
            * \brief Constructor
            *
            * Construct a PID at given position. \n
            * The PID will automatically be child of position->getLayout() Layout. After calling this function,
            * position will be deleted as it is no longer usefull. \n
            *
            * \param position position to display settings
            * \param name name
            */
            Pid(const gui::LayoutPosition* position,std::string name);

            /*!
            * \brief Destructor
            *
            */
            ~Pid();

            /*!
            * \brief Reset integral
            *
            */
            void Reset(void);

            /*!
            * \brief Set input values
            *
            * \param p proportional value
            * \param d derivative value
            */
            void SetValues(float p,float d);

            /*!
            * \brief Use default plot
            *
            * Plot the output values at position. \n
            * Plot consists of 4 curves: proportional part,
            * derivative part, integral part and
            * the sum of the three. \n
            * After calling this function, position will be deleted as it is no longer usefull. \n
            *
            * \param position position to display plot
            */
            void UseDefaultPlot(const gui::LayoutPosition* position);

        private:
            /*!
            * \brief Update using provided datas
            *
            * Reimplemented from IODevice.
            *
            * \param data data from the parent to process
            */
            void UpdateFrom(const core::io_data *data);

            Pid_impl* pimpl_;
    };
} // end namespace filter
} // end namespace flair
#endif // PID_H