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1 | // %flair:license{
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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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4 | // %flair:license}
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5 | /*!
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6 | * \file Pid_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 2011/05/01
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10 | * \version 4.0
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11 | */
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12 |
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13 | #ifndef PID_IMPL_H
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14 | #define PID_IMPL_H
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15 |
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16 | #include <Object.h>
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17 |
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18 | namespace flair
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19 | {
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20 | namespace core
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21 | {
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22 | class cvmatrix;
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23 | class io_data;
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24 | }
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25 | namespace gui
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26 | {
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27 | class LayoutPosition;
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28 | class DoubleSpinBox;
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29 | }
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30 | namespace filter
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31 | {
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32 | class Pid;
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33 | }
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34 | }
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35 |
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36 | /*! \class Pid_impl
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37 | * \brief Class defining a PID
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38 | */
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39 |
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40 | class Pid_impl
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41 | {
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42 | public:
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43 | Pid_impl(flair::filter::Pid* self,const flair::gui::LayoutPosition* position,std::string name);
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44 | ~Pid_impl();
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45 | void UseDefaultPlot(const flair::gui::LayoutPosition* position);
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46 | void UpdateFrom(const flair::core::io_data *data);
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47 | float i;
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48 | bool first_update;
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49 |
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50 | private:
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51 | flair::filter::Pid* self;
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52 | flair::core::Time previous_time;
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53 |
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54 | //matrix
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55 | flair::core::cvmatrix *state;
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56 |
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57 | flair::gui::DoubleSpinBox *T,*kp,*ki,*kd,*sat,*sati;
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58 | };
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59 |
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60 | #endif // PID_IMPL_H
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