| [10] | 1 | // %flair:license{
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| [15] | 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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| [10] | 4 | // %flair:license}
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| [7] | 5 | /*!
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| 6 | * \file PidThrust.h
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| 7 | * \brief Class defining a Pid for Thrust
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| 8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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| 9 | * \date 2014/11/07
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| 10 | * \version 4.0
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| 11 | */
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| 12 |
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| 13 | #ifndef PIDTHRUST_H
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| 14 | #define PIDTHRUST_H
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| 15 |
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| 16 | #include <ControlLaw.h>
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| 17 |
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| [15] | 18 | namespace flair {
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| 19 | namespace gui {
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| 20 | class LayoutPosition;
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| [7] | 21 | }
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| [15] | 22 | }
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| [7] | 23 |
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| 24 | class PidThrust_impl;
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| 25 |
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| [15] | 26 | namespace flair {
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| 27 | namespace filter {
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| 28 | /*! \class PidThrust
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| 29 | *
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| 30 | * \brief Class defining a Pid for Thrust.\n
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| 31 | * This Pid as an extra offset for compensating gravity.
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| 32 | */
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| 33 | class PidThrust : public ControlLaw {
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| 34 | friend class ::PidThrust_impl;
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| [7] | 35 |
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| [15] | 36 | public:
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| 37 | /*!
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| 38 | * \brief Constructor
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| 39 | *
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| 40 | * Construct a PidThrust at given position
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| 41 | * The PidThrust will automatically be child of position->getLayout() Layout.
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| 42 | *After calling this function,
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| 43 | * position will be deleted as it is no longer usefull. \n
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| 44 | *
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| 45 | * \param position position to display settings
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| 46 | * \param name name
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| 47 | */
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| 48 | PidThrust(const gui::LayoutPosition *position, std::string name);
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| [7] | 49 |
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| [15] | 50 | /*!
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| 51 | * \brief Destructor
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| 52 | *
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| 53 | */
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| 54 | ~PidThrust();
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| [7] | 55 |
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| [15] | 56 | /*!
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| 57 | * \brief Reset integral and offset to 0
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| 58 | *
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| 59 | */
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| 60 | void Reset(void);
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| [7] | 61 |
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| [15] | 62 | /*!
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| 63 | * \brief Reset integral to 0
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| 64 | *
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| 65 | */
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| 66 | void ResetI(void);
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| [7] | 67 |
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| [15] | 68 | /*!
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| 69 | * \brief Reset offset to 0
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| 70 | *
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| 71 | */
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| 72 | void ResetOffset(void);
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| [7] | 73 |
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| [15] | 74 | /*!
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| 75 | * \brief Set offset to specified value in ground station
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| 76 | *
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| 77 | */
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| 78 | void SetOffset(void);
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| [7] | 79 |
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| [15] | 80 | /*!
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| 81 | * \brief Get offset
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| 82 | *
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| 83 | * \return current offset
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| 84 | */
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| 85 | float GetOffset(void);
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| [7] | 86 |
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| [15] | 87 | /*!
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| 88 | * \brief Step up the offset according to specified value in ground station
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| 89 | *
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| 90 | * \return false if offset is at its maximum (1) value, true otherwise
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| 91 | */
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| 92 | bool OffsetStepUp(void);
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| [7] | 93 |
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| [15] | 94 | /*!
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| 95 | * \brief Step down the offset according to specified value in ground station
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| 96 | *
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| 97 | * \return false if offset is at its minimum (specified in ground station)
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| 98 | *value, true otherwise
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| 99 | */
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| 100 | bool OffsetStepDown(void);
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| [7] | 101 |
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| [15] | 102 | /*!
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| 103 | * \brief Set input values
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| 104 | *
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| 105 | * \param p proportional value
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| 106 | * \param d derivative value
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| 107 | */
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| 108 | void SetValues(float p, float d);
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| [7] | 109 |
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| [15] | 110 | /*!
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| 111 | * \brief Use default plot
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| 112 | *
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| 113 | * Plot the output values at position. \n
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| 114 | * Plot consists of 4 curves: proportional part,
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| 115 | * derivative part, integral part and
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| 116 | * the sum of the three. \n
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| 117 | * After calling this function, position will be deleted as it is no longer
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| 118 | *usefull. \n
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| 119 | *
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| 120 | * \param position position to display plot
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| 121 | */
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| 122 | void UseDefaultPlot(const gui::LayoutPosition *position);
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| [7] | 123 |
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| [15] | 124 | private:
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| 125 | /*!
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| 126 | * \brief Update using provided datas
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| 127 | *
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| 128 | * Reimplemented from IODevice.
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| 129 | *
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| 130 | * \param data data from the parent to process
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| 131 | */
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| 132 | void UpdateFrom(const core::io_data *data);
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| [7] | 133 |
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| [15] | 134 | PidThrust_impl *pimpl_;
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| 135 | };
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| [7] | 136 | } // end namespace filter
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| 137 | } // end namespace flair
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| 138 | #endif // PIDTHRUST_H
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