source: flair-src/trunk/lib/FlairFilter/src/unexported/PidThrust_impl.h@ 10

Last change on this file since 10 was 10, checked in by Sanahuja Guillaume, 7 years ago

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File size: 1.3 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_impl.h
7 * \brief Classe permettant le calcul d'un Pid
8 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2014/11/07
10 * \version 4.0
11 */
12
13#ifndef PIDTHRUST_IMPL_H
14#define PIDTHRUST_IMPL_H
15
16#include <Object.h>
17
18namespace flair
19{
20 namespace core
21 {
22 class cvmatrix;
23 class io_data;
24 }
25 namespace gui
26 {
27 class LayoutPosition;
28 class DoubleSpinBox;
29 }
30 namespace filter
31 {
32 class PidThrust;
33 }
34}
35
36/*! \class PidThrust_impl
37* \brief Class defining a PID
38*/
39
40class PidThrust_impl
41{
42 public:
43 PidThrust_impl(flair::filter::PidThrust* self,const flair::gui::LayoutPosition* position,std::string name);
44 ~PidThrust_impl();
45 void UseDefaultPlot(const flair::gui::LayoutPosition* position);
46 void UpdateFrom(const flair::core::io_data *data);
47 float i,offset_g;
48 flair::gui::DoubleSpinBox *offset,*pas_offset;
49
50 private:
51 flair::filter::PidThrust* self;
52 flair::core::Time previous_time;
53 bool first_update;
54
55 //matrix
56 flair::core::cvmatrix *state;
57
58 flair::gui::DoubleSpinBox *T,*kp,*ki,*kd,*sat,*sati;
59};
60
61#endif // PIDTHRUST_IMPL_H
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