source: flair-src/trunk/lib/FlairFilter/src/unexported/PidThrust_impl.h @ 15

Last change on this file since 15 was 15, checked in by Bayard Gildas, 5 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_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 {
19namespace core {
20class cvmatrix;
21class io_data;
22}
23namespace gui {
24class LayoutPosition;
25class DoubleSpinBox;
26}
27namespace filter {
28class PidThrust;
29}
30}
31
32/*! \class PidThrust_impl
33* \brief Class defining a PID
34*/
35
36class PidThrust_impl {
37public:
38  PidThrust_impl(flair::filter::PidThrust *self,
39                 const flair::gui::LayoutPosition *position, std::string name);
40  ~PidThrust_impl();
41  void UseDefaultPlot(const flair::gui::LayoutPosition *position);
42  void UpdateFrom(const flair::core::io_data *data);
43  float i, offset_g;
44  flair::gui::DoubleSpinBox *offset, *pas_offset;
45
46private:
47  flair::filter::PidThrust *self;
48  flair::core::Time previous_time;
49  bool first_update;
50
51  // matrix
52  flair::core::cvmatrix *state;
53
54  flair::gui::DoubleSpinBox *T, *kp, *ki, *kd, *sat, *sati;
55};
56
57#endif // PIDTHRUST_IMPL_H
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