Changeset 15 in flair-src for trunk/lib/FlairFilter/src/NestedSat.h


Ignore:
Timestamp:
04/08/16 15:40:57 (8 years ago)
Author:
Bayard Gildas
Message:

sources reformatted with flair-format-dir script

File:
1 edited

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  • trunk/lib/FlairFilter/src/NestedSat.h

    r10 r15  
    1616#include <ControlLaw.h>
    1717
    18 namespace flair
    19 {
    20     namespace gui
    21     {
    22         class Layout;
    23         class LayoutPosition;
    24     }
     18namespace flair {
     19namespace gui {
     20class Layout;
     21class LayoutPosition;
     22}
    2523}
    2624
    2725class NestedSat_impl;
    2826
    29 namespace flair
    30 {
    31 namespace filter
    32 {
    33     /*! \class NestedSat
    34     *
    35     * \brief  Class defining a PID with saturations
    36     *
    37     * The output of this control law is calculated
    38     * as follows: \n
    39     * p_ref=Sat(p_ref,k*sat_ref) \n
    40     * d_ref=Sat[(p_ref-p)*kp,k*sat_dref] \n
    41     * law=Sat[(d-d_ref)*kd,sat_u] \n
    42     * where p, p_ref and d are input values (see SetValues()), \n
    43     * where sat_ref, sat_dref and sat_u are settings availables on the ground station, \n
    44     * where k is a conversion factor (see ConvertSatFromDegToRad()).
    45     */
    46     class NestedSat : public ControlLaw
    47     {
    48         friend class ::NestedSat_impl;
     27namespace flair {
     28namespace filter {
     29/*! \class NestedSat
     30*
     31* \brief  Class defining a PID with saturations
     32*
     33* The output of this control law is calculated
     34* as follows: \n
     35* p_ref=Sat(p_ref,k*sat_ref) \n
     36* d_ref=Sat[(p_ref-p)*kp,k*sat_dref] \n
     37* law=Sat[(d-d_ref)*kd,sat_u] \n
     38* where p, p_ref and d are input values (see SetValues()), \n
     39* where sat_ref, sat_dref and sat_u are settings availables on the ground
     40*station, \n
     41* where k is a conversion factor (see ConvertSatFromDegToRad()).
     42*/
     43class NestedSat : public ControlLaw {
     44  friend class ::NestedSat_impl;
    4945
    50         public:
    51             /*!
    52             * \brief Constructor
    53             *
    54             * Construct a NestedSat at given place position. \n
    55             * The NestedSat will automatically be child of position->getLayout() Layout. After calling this function,
    56             * position will be deleted as it is no longer usefull. \n
    57             *
    58             * \param position position to display settings
    59             * \param name name
    60             */
    61             NestedSat(const gui::LayoutPosition* position,std::string name);
     46public:
     47  /*!
     48  * \brief Constructor
     49  *
     50  * Construct a NestedSat at given place position. \n
     51  * The NestedSat will automatically be child of position->getLayout() Layout.
     52  *After calling this function,
     53  * position will be deleted as it is no longer usefull. \n
     54  *
     55  * \param position position to display settings
     56  * \param name name
     57  */
     58  NestedSat(const gui::LayoutPosition *position, std::string name);
    6259
    63             /*!
    64             * \brief Destructor
    65             *
    66             */
    67             ~NestedSat();
     60  /*!
     61  * \brief Destructor
     62  *
     63  */
     64  ~NestedSat();
    6865
    69             /*!
    70             * \brief Set input values
    71             *
    72             * \param p_ref proportional reference
    73             * \param p proportional value
    74             * \param d derivative value
    75             */
    76             void SetValues(float p_ref,float p,float d);
     66  /*!
     67  * \brief Set input values
     68  *
     69  * \param p_ref proportional reference
     70  * \param p proportional value
     71  * \param d derivative value
     72  */
     73  void SetValues(float p_ref, float p, float d);
    7774
    78             /*!
    79             * \brief Convert saturation parameters in radians
    80             *
    81             * If this function is called, saturation parameters
    82             * on the ground station will be interpreted as degrees. \n
    83             * Thus, an internal conversion from degrees to radians will
    84             * be done (k=PI/180).
    85             */
    86             void ConvertSatFromDegToRad(void);
     75  /*!
     76  * \brief Convert saturation parameters in radians
     77  *
     78  * If this function is called, saturation parameters
     79  * on the ground station will be interpreted as degrees. \n
     80  * Thus, an internal conversion from degrees to radians will
     81  * be done (k=PI/180).
     82  */
     83  void ConvertSatFromDegToRad(void);
    8784
    88         private:
    89             /*!
    90             * \brief Update using provided datas
    91             *
    92             * Reimplemented from IODevice.
    93             *
    94             * \param data data from the parent to process
    95             */
    96             void UpdateFrom(const core::io_data *data);
     85private:
     86  /*!
     87  * \brief Update using provided datas
     88  *
     89  * Reimplemented from IODevice.
     90  *
     91  * \param data data from the parent to process
     92  */
     93  void UpdateFrom(const core::io_data *data);
    9794
    98             NestedSat_impl* pimpl_;
    99     };
     95  NestedSat_impl *pimpl_;
     96};
    10097} // end namespace filter
    10198} // end namespace flair
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