source: flair-src/trunk/lib/FlairFilter/src/PidThrust.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: 2.0 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:    2014/11/07
6//  filename:   PidThrust.cpp
7//
8//  author:     Guillaume Sanahuja
9//              Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11//  version:    $Id: $
12//
13//  purpose:    Class defining a PidThrust
14//
15//
16/*********************************************************************/
17
18#include "PidThrust.h"
19#include "PidThrust_impl.h"
20#include <cvmatrix.h>
21#include <Layout.h>
22#include <LayoutPosition.h>
23#include <DoubleSpinBox.h>
24
25using std::string;
26using namespace flair::core;
27using namespace flair::gui;
28
29namespace flair {
30namespace filter {
31
32PidThrust::PidThrust(const LayoutPosition *position, string name)
33    : ControlLaw(position->getLayout(), name) {
34  pimpl_ = new PidThrust_impl(this, position, name);
35}
36
37PidThrust::~PidThrust(void) { delete pimpl_; }
38
39void PidThrust::UseDefaultPlot(const flair::gui::LayoutPosition *position) {
40  pimpl_->UseDefaultPlot(position);
41}
42
43void PidThrust::Reset(void) {
44  pimpl_->i = 0;
45  pimpl_->offset_g = 0;
46}
47
48void PidThrust::ResetI(void) { pimpl_->i = 0; }
49
50float PidThrust::GetOffset(void) { return pimpl_->offset_g; }
51
52void PidThrust::UpdateFrom(const io_data *data) {
53  pimpl_->UpdateFrom(data);
54  ProcessUpdate(output);
55}
56
57void PidThrust::SetValues(float p, float d) {
58  input->SetValue(0, 0, p);
59  input->SetValue(1, 0, d);
60}
61
62void PidThrust::ResetOffset(void) { pimpl_->offset_g = 0; }
63
64void PidThrust::SetOffset(void) { pimpl_->offset_g = pimpl_->offset->Value(); }
65
66bool PidThrust::OffsetStepUp(void) {
67  pimpl_->offset_g += pimpl_->pas_offset->Value();
68  if (pimpl_->offset_g > 1) {
69    pimpl_->offset_g = 1;
70    return false;
71  } else {
72    return true;
73  }
74}
75
76bool PidThrust::OffsetStepDown(void) {
77  pimpl_->offset_g -= pimpl_->pas_offset->Value();
78  if (pimpl_->offset_g < pimpl_->offset->Value()) {
79    pimpl_->offset_g = pimpl_->offset->Value();
80    return false;
81  } else {
82    return true;
83  }
84}
85
86} // end namespace filter
87} // end namespace flair
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