source: flair-src/trunk/lib/FlairFilter/src/PidThrust.h@ 206

Last change on this file since 206 was 206, checked in by Sanahuja Guillaume, 4 years ago

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File size: 2.7 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/*!
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 to 0
58 *
59 */
60 void ResetI(void);
61
62 /*!
63 * \brief Set offset to a specified value
64 *
65 * \param value desired value
66 */
67 void SetOffset(float value);
68
69 /*!
70 * \brief Set offset to specified value in ground station
71 *
72 */
73 void SetDefaultOffset(void);
74
75 /*!
76 * \brief Get offset
77 *
78 * \return current offset
79 */
80 float GetOffset(void);
81
82 /*!
83 * \brief Step up the offset according to specified value in ground station
84 *
85 * \return false if offset is at its maximum (1) value, true otherwise
86 */
87 bool OffsetStepUp(void);
88
89 /*!
90 * \brief Step down the offset according to specified value in ground station
91 *
92 * \return false if offset is at its minimum (specified in ground station)
93 *value, true otherwise
94 */
95 bool OffsetStepDown(void);
96
97 /*!
98 * \brief Set input values
99 *
100 * \param p proportional value
101 * \param d derivative value
102 */
103 void SetValues(float p, float d);
104
105 /*!
106 * \brief Use default plot
107 *
108 * Plot the output values at position. \n
109 * Plot consists of 4 curves: proportional part,
110 * derivative part, integral part and
111 * the sum of the three. \n
112 * After calling this function, position will be deleted as it is no longer
113 *usefull. \n
114 *
115 * \param position position to display plot
116 */
117 void UseDefaultPlot(const gui::LayoutPosition *position);
118
119private:
120 /*!
121 * \brief Update using provided datas
122 *
123 * Reimplemented from IODevice.
124 *
125 * \param data data from the parent to process
126 */
127 void UpdateFrom(const core::io_data *data);
128
129 PidThrust_impl *pimpl_;
130};
131} // end namespace filter
132} // end namespace flair
133#endif // PIDTHRUST_H
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