/*!
 * \file Pid_impl.h
 * \brief Classe permettant le calcul d'un Pid
 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
 * \date 2011/05/01
 * \version 4.0
 */

#ifndef PID_IMPL_H
#define PID_IMPL_H

#include <Object.h>

namespace flair
{
    namespace core
    {
        class cvmatrix;
        class io_data;
    }
    namespace gui
    {
        class LayoutPosition;
        class DoubleSpinBox;
    }
    namespace filter
    {
        class Pid;
    }
}

/*! \class Pid_impl
* \brief Class defining a PID
*/

class Pid_impl
{
    public:
        Pid_impl(flair::filter::Pid* self,const flair::gui::LayoutPosition* position,std::string name);
        ~Pid_impl();
        void UseDefaultPlot(const flair::gui::LayoutPosition* position);
        void UpdateFrom(const flair::core::io_data *data);
        float i;
        bool first_update;

    private:
        flair::filter::Pid* self;
        flair::core::Time previous_time;

        //matrix
        flair::core::cvmatrix *state;

        flair::gui::DoubleSpinBox *T,*kp,*ki,*kd,*sat,*sati;
};

#endif // PID_IMPL_H