source: flair-src/trunk/lib/FlairFilter/src/PidThrust.h@ 137

Last change on this file since 137 was 15, checked in by Bayard Gildas, 6 years ago

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