source: flair-src/trunk/lib/FlairFilter/src/Pid.h@ 456

Last change on this file since 456 was 247, checked in by Sanahuja Guillaume, 4 years ago

improve gcs disconnections

File size: 2.0 KB
Line 
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/*!
6 * \file Pid.h
7 * \brief Class defining a PID
8 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2011/05/01
10 * \version 4.0
11 */
12
13#ifndef PID_H
14#define PID_H
15
16#include <ControlLaw.h>
17
18namespace flair {
19namespace gui {
20class LayoutPosition;
21}
22}
23
24class Pid_impl;
25
26namespace flair {
27namespace filter {
28/*! \class Pid
29*
30* \brief Class defining a PID
31*/
32class Pid : public ControlLaw {
33 friend class ::Pid_impl;
34
35public:
36 /*!
37 * \brief Constructor
38 *
39 * Construct a PID at given position. \n
40 * The PID will automatically be child of position->getLayout() Layout. After
41 *calling this function,
42 * position will be deleted as it is no longer usefull. \n
43 *
44 * \param position position to display settings
45 * \param name name
46 */
47 Pid(const gui::LayoutPosition *position, std::string name);
48
49 /*!
50 * \brief Destructor
51 *
52 */
53 ~Pid();
54
55 /*!
56 * \brief Reset integral
57 *
58 */
59 void Reset(void);
60
61 /*!
62 * \brief Get intergral part
63 *
64 * \return current integral part
65 */
66 float GetIntegral(void) const;
67
68
69 /*!
70 * \brief Set input values
71 *
72 * \param p proportional value
73 * \param d derivative value
74 */
75 void SetValues(float p, float d);
76
77 /*!
78 * \brief Use default plot
79 *
80 * Plot the output values at position. \n
81 * Plot consists of 4 curves: proportional part,
82 * derivative part, integral part and
83 * the sum of the three. \n
84 * After calling this function, position will be deleted as it is no longer
85 *usefull. \n
86 *
87 * \param position position to display plot
88 */
89 void UseDefaultPlot(const gui::LayoutPosition *position);
90
91private:
92 /*!
93 * \brief Update using provided datas
94 *
95 * Reimplemented from IODevice.
96 *
97 * \param data data from the parent to process
98 */
99 void UpdateFrom(const core::io_data *data);
100
101 Pid_impl *pimpl_;
102};
103} // end namespace filter
104} // end namespace flair
105#endif // PID_H
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