source: flair-src/trunk/lib/FlairFilter/src/Pid.h@ 7

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

filter and meta

File size: 2.3 KB
Line 
1/*!
2 * \file Pid.h
3 * \brief Class defining a PID
4 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
5 * \date 2011/05/01
6 * \version 4.0
7 */
8
9#ifndef PID_H
10#define PID_H
11
12#include <ControlLaw.h>
13
14namespace flair
15{
16 namespace gui
17 {
18 class LayoutPosition;
19 }
20}
21
22class Pid_impl;
23
24namespace flair
25{
26namespace filter
27{
28 /*! \class Pid
29 *
30 * \brief Class defining a PID
31 */
32 class Pid : public ControlLaw
33 {
34 friend class ::Pid_impl;
35
36 public:
37 /*!
38 * \brief Constructor
39 *
40 * Construct a PID at given position. \n
41 * The PID will automatically be child of position->getLayout() Layout. After 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 Set input values
63 *
64 * \param p proportional value
65 * \param d derivative value
66 */
67 void SetValues(float p,float d);
68
69 /*!
70 * \brief Use default plot
71 *
72 * Plot the output values at position. \n
73 * Plot consists of 4 curves: proportional part,
74 * derivative part, integral part and
75 * the sum of the three. \n
76 * After calling this function, position will be deleted as it is no longer usefull. \n
77 *
78 * \param position position to display plot
79 */
80 void UseDefaultPlot(const gui::LayoutPosition* position);
81
82 private:
83 /*!
84 * \brief Update using provided datas
85 *
86 * Reimplemented from IODevice.
87 *
88 * \param data data from the parent to process
89 */
90 void UpdateFrom(const core::io_data *data);
91
92 Pid_impl* pimpl_;
93 };
94} // end namespace filter
95} // end namespace flair
96#endif // PID_H
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