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[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_impl.h
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| 7 | * \brief Classe permettant le calcul d'un Pid
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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_IMPL_H
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| 14 | #define PIDTHRUST_IMPL_H
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| 15 |
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| 16 | #include <Object.h>
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| 17 |
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[15] | 18 | namespace flair {
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| 19 | namespace core {
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[214] | 20 | class Matrix;
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[15] | 21 | class io_data;
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[7] | 22 | }
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[15] | 23 | namespace gui {
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| 24 | class LayoutPosition;
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| 25 | class DoubleSpinBox;
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| 26 | }
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| 27 | namespace filter {
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| 28 | class PidThrust;
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| 29 | }
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| 30 | }
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[7] | 31 |
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| 32 | /*! \class PidThrust_impl
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| 33 | * \brief Class defining a PID
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| 34 | */
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| 35 |
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[15] | 36 | class PidThrust_impl {
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| 37 | public:
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| 38 | PidThrust_impl(flair::filter::PidThrust *self,
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| 39 | const flair::gui::LayoutPosition *position, std::string name);
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| 40 | ~PidThrust_impl();
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| 41 | void UseDefaultPlot(const flair::gui::LayoutPosition *position);
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| 42 | void UpdateFrom(const flair::core::io_data *data);
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| 43 | float i, offset_g;
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| 44 | flair::gui::DoubleSpinBox *offset, *pas_offset;
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[7] | 45 |
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[15] | 46 | private:
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| 47 | flair::filter::PidThrust *self;
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| 48 | flair::core::Time previous_time;
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| 49 | bool first_update;
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[7] | 50 |
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[15] | 51 | // matrix
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[214] | 52 | flair::core::Matrix *state;
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[7] | 53 |
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[15] | 54 | flair::gui::DoubleSpinBox *T, *kp, *ki, *kd, *sat, *sati;
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[7] | 55 | };
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| 56 |
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| 57 | #endif // PIDTHRUST_IMPL_H
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