source: flair-src/trunk/lib/FlairFilter/src/unexported/Pid_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 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 {
19namespace core {
20class cvmatrix;
21class io_data;
22}
23namespace gui {
24class LayoutPosition;
25class DoubleSpinBox;
26}
27namespace filter {
28class Pid;
29}
30}
31
32/*! \class Pid_impl
33* \brief Class defining a PID
34*/
35
36class Pid_impl {
37public:
38  Pid_impl(flair::filter::Pid *self, const flair::gui::LayoutPosition *position,
39           std::string name);
40  ~Pid_impl();
41  void UseDefaultPlot(const flair::gui::LayoutPosition *position);
42  void UpdateFrom(const flair::core::io_data *data);
43  float i;
44  bool first_update;
45
46private:
47  flair::filter::Pid *self;
48  flair::core::Time previous_time;
49
50  // matrix
51  flair::core::cvmatrix *state;
52
53  flair::gui::DoubleSpinBox *T, *kp, *ki, *kd, *sat, *sati;
54};
55
56#endif // PID_IMPL_H
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