Changeset 216 in flair-src for trunk/lib/FlairFilter

Timestamp:

Feb 15, 2018, 4:44:23 PM (7 years ago)

Author:

Sanahuja Guillaume

Message:

maj

Location:

trunk/lib/FlairFilter

Files:

• CMakeLists.txt (modified) (1 diff)
• src/ControlLaw.h (modified) (1 diff)
• src/PidThrust.cpp (modified) (1 diff)
• src/PidThrust.h (modified) (2 diffs)

trunk/lib/FlairFilter/CMakeLists.txt

@@ -25 +25 @@
         ${CMAKE_CURRENT_SOURCE_DIR}/src/
         ${CMAKE_SYSROOT}/usr/include/opencv1
+    ${CMAKE_SYSROOT}/usr/include/opencv
         ${CMAKE_SYSROOT}/usr/include/iir
 )

trunk/lib/FlairFilter/src/ControlLaw.h

@@ -88 +88 @@
   * \brief Reset the internal state of the control law
   *
-  * Doesn't do anything by default
+  * Does nothing by default
   *
   */

trunk/lib/FlairFilter/src/PidThrust.cpp

@@ -43 +43 @@
 }
 
+void PidThrust::Reset(void) {
+  ResetI();
+  SetDefaultOffset();
+  SetValues(0,0);
+}
+
 void PidThrust::ResetI(void) { pimpl_->i = 0; }
 
-float PidThrust::GetOffset(void) { return pimpl_->offset_g; }
+float PidThrust::GetOffset(void) const { return pimpl_->offset_g; }
+
+float PidThrust::GetIntegral(void) const { return pimpl_->i; }
 
 void PidThrust::UpdateFrom(const io_data *data) {

trunk/lib/FlairFilter/src/PidThrust.h

@@ -55 +55 @@
 
   /*!
+  * \brief Reset the control law
+  * equivalent to:
+  * ResetI();
+  * SetDefaultOffset();
+  * SetValues(0,0);
+  * 
+  */
+  void Reset(void);
+  
+  /*!
   * \brief Reset integral to 0
   *
@@ -78 +88 @@
   * \return current offset
   */
-  float GetOffset(void);
+  float GetOffset(void) const;
+  
+  /*!
+  * \brief Get intergral part
+  *
+  * \return current integral part
+  */
+  float GetIntegral(void) const;
 
   /*!