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

Last change on this file since 10 was 10, checked in by Sanahuja Guillaume, 6 years ago

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File size: 1.2 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 Pid_impl.h
7 * \brief Classe permettant le calcul d'un Pid
8 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2011/05/01
10 * \version 4.0
11 */
12
13#ifndef PID_IMPL_H
14#define PID_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 Pid;
33    }
34}
35
36/*! \class Pid_impl
37* \brief Class defining a PID
38*/
39
40class Pid_impl
41{
42    public:
43        Pid_impl(flair::filter::Pid* self,const flair::gui::LayoutPosition* position,std::string name);
44        ~Pid_impl();
45        void UseDefaultPlot(const flair::gui::LayoutPosition* position);
46        void UpdateFrom(const flair::core::io_data *data);
47        float i;
48        bool first_update;
49
50    private:
51        flair::filter::Pid* self;
52        flair::core::Time previous_time;
53
54        //matrix
55        flair::core::cvmatrix *state;
56
57        flair::gui::DoubleSpinBox *T,*kp,*ki,*kd,*sat,*sati;
58};
59
60#endif // PID_IMPL_H
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