source: flair-src/trunk/lib/FlairFilter/src/PidThrust.h@ 216

Last change on this file since 216 was 216, checked in by Sanahuja Guillaume, 4 years ago

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File size: 3.0 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/*!
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 the control law
58 * equivalent to:
59 * ResetI();
60 * SetDefaultOffset();
61 * SetValues(0,0);
62 *
63 */
64 void Reset(void);
65
66 /*!
67 * \brief Reset integral to 0
68 *
69 */
70 void ResetI(void);
71
72 /*!
73 * \brief Set offset to a specified value
74 *
75 * \param value desired value
76 */
77 void SetOffset(float value);
78
79 /*!
80 * \brief Set offset to specified value in ground station
81 *
82 */
83 void SetDefaultOffset(void);
84
85 /*!
86 * \brief Get offset
87 *
88 * \return current offset
89 */
90 float GetOffset(void) const;
91
92 /*!
93 * \brief Get intergral part
94 *
95 * \return current integral part
96 */
97 float GetIntegral(void) const;
98
99 /*!
100 * \brief Step up the offset according to specified value in ground station
101 *
102 * \return false if offset is at its maximum (1) value, true otherwise
103 */
104 bool OffsetStepUp(void);
105
106 /*!
107 * \brief Step down the offset according to specified value in ground station
108 *
109 * \return false if offset is at its minimum (specified in ground station)
110 *value, true otherwise
111 */
112 bool OffsetStepDown(void);
113
114 /*!
115 * \brief Set input values
116 *
117 * \param p proportional value
118 * \param d derivative value
119 */
120 void SetValues(float p, float d);
121
122 /*!
123 * \brief Use default plot
124 *
125 * Plot the output values at position. \n
126 * Plot consists of 4 curves: proportional part,
127 * derivative part, integral part and
128 * the sum of the three. \n
129 * After calling this function, position will be deleted as it is no longer
130 *usefull. \n
131 *
132 * \param position position to display plot
133 */
134 void UseDefaultPlot(const gui::LayoutPosition *position);
135
136private:
137 /*!
138 * \brief Update using provided datas
139 *
140 * Reimplemented from IODevice.
141 *
142 * \param data data from the parent to process
143 */
144 void UpdateFrom(const core::io_data *data);
145
146 PidThrust_impl *pimpl_;
147};
148} // end namespace filter
149} // end namespace flair
150#endif // PIDTHRUST_H
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