Changeset 13 in flair-dev for trunk/include/FlairFilter/ControlLaw.h


Ignore:
Timestamp:
04/08/16 15:39:24 (8 years ago)
Author:
Bayard Gildas
Message:

formatting script + include reformatted

File:
1 edited

Legend:

Unmodified
Added
Removed

  • trunk/include/FlairFilter/ControlLaw.h

    r9 r13  
    1717
    1818namespace flair {
    19     namespace gui {
    20         class LayoutPosition;
    21     }
    22     namespace core {
    23         class cvmatrix;
    24     }
     19namespace gui {
     20class LayoutPosition;
     21}
     22namespace core {
     23class cvmatrix;
     24}
    2525}
    2626
    27 namespace flair { namespace filter {
    28     /*! \class ControlLaw
    29     *
    30     * \brief Base class for control law
    31     * input must be created by reimplemented class.\n
    32     * output is created by this class, it is of size (nb_out,1) and type float.\n
    33     * see constructor for nb_out
    34     */
    35     class ControlLaw : public core::IODevice {
    36         public:
    37             /*!
    38             * \brief Constructor
    39             *
    40             * Construct a ControlLaw
    41             *
    42             * \param parent parent
    43             * \param name name
    44             * \param nb_out number of output
    45             */
    46             ControlLaw(const core::Object* parent,std::string name,uint32_t nb_out=1);
     27namespace flair {
     28namespace filter {
     29/*! \class ControlLaw
     30*
     31* \brief Base class for control law
     32* input must be created by reimplemented class.\n
     33* output is created by this class, it is of size (nb_out,1) and type float.\n
     34* see constructor for nb_out
     35*/
     36class ControlLaw : public core::IODevice {
     37public:
     38  /*!
     39  * \brief Constructor
     40  *
     41  * Construct a ControlLaw
     42  *
     43  * \param parent parent
     44  * \param name name
     45  * \param nb_out number of output
     46  */
     47  ControlLaw(const core::Object *parent, std::string name, uint32_t nb_out = 1);
    4748
    48             /*!
    49             * \brief Destructor
    50             *
    51             */
    52             ~ControlLaw();
     49  /*!
     50  * \brief Destructor
     51  *
     52  */
     53  ~ControlLaw();
    5354
    54             /*!
    55             * \brief Output value
    56             *
    57             * \param index output index, between 0 and nb_out-1
    58             *
    59             * \return output value
    60             */
    61             float Output(uint32_t index=0) const;
     55  /*!
     56  * \brief Output value
     57  *
     58  * \param index output index, between 0 and nb_out-1
     59  *
     60  * \return output value
     61  */
     62  float Output(uint32_t index = 0) const;
    6263
    63             /*!
    64             * \brief Use default plot
    65             *
    66             * Plot the output value at given position. \n
    67             * Only Output(1,1) is plotted. \n
    68             * In case of a mutliple output ControlLaw, this function should be reimplemented. \n
    69             * After calling this function, position will be deleted as it is no longer usefull. \n
    70             *
    71             * \param position position to display plot
    72             */
    73             virtual void UseDefaultPlot(const gui::LayoutPosition* position);
     64  /*!
     65  * \brief Use default plot
     66  *
     67  * Plot the output value at given position. \n
     68  * Only Output(1,1) is plotted. \n
     69  * In case of a mutliple output ControlLaw, this function should be
     70  *reimplemented. \n
     71  * After calling this function, position will be deleted as it is no longer
     72  *usefull. \n
     73  *
     74  * \param position position to display plot
     75  */
     76  virtual void UseDefaultPlot(const gui::LayoutPosition *position);
    7477
    75             /*!
    76             * \brief Update using provided datas
    77             *
    78             * Reimplemented class must fill input matrix before calling this.
    79             *
    80             * \param time time of the update
    81             */
    82             void Update(core::Time time);
     78  /*!
     79  * \brief Update using provided datas
     80  *
     81  * Reimplemented class must fill input matrix before calling this.
     82  *
     83  * \param time time of the update
     84  */
     85  void Update(core::Time time);
    8386
    84             /*!
    85             * \brief Reset the internal state of the control law
    86             *
    87             * Doesn't do anything by default
    88             *
    89             */
    90             virtual void Reset() {};
     87  /*!
     88  * \brief Reset the internal state of the control law
     89  *
     90  * Doesn't do anything by default
     91  *
     92  */
     93  virtual void Reset(){};
    9194
    92         protected:
    93             /*!
    94             * \brief input matrix
    95             *
    96             * This matrix must be created by the reimplemented class.
    97             *
    98             */
    99             core::cvmatrix *input;
     95protected:
     96  /*!
     97  * \brief input matrix
     98  *
     99  * This matrix must be created by the reimplemented class.
     100  *
     101  */
     102  core::cvmatrix *input;
    100103
    101             /*!
    102             * \brief output matrix
    103             *
    104             * This matrix is created by this class. Its size is (nb_out,1) and its type
    105             * is io_data::Float.
    106             *
    107             */
    108             core::cvmatrix *output;
     104  /*!
     105  * \brief output matrix
     106  *
     107  * This matrix is created by this class. Its size is (nb_out,1) and its type
     108  * is io_data::Float.
     109  *
     110  */
     111  core::cvmatrix *output;
    109112
    110         private:
    111             /*!
    112             * \brief Update using provided datas
    113             *
    114             * Reimplemented from IODevice.
    115             *
    116             * \param data data from the parent to process
    117             */
    118             virtual void UpdateFrom(const core::io_data *data)=0;
    119     };
     113private:
     114  /*!
     115  * \brief Update using provided datas
     116  *
     117  * Reimplemented from IODevice.
     118  *
     119  * \param data data from the parent to process
     120  */
     121  virtual void UpdateFrom(const core::io_data *data) = 0;
     122};
    120123} // end namespace filter
    121124} // end namespace flair
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