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


Ignore:
Timestamp:
Feb 15, 2018, 4:44:23 PM (4 years ago)
Author:
Sanahuja Guillaume
Message:

maj

Location:
trunk/lib/FlairFilter
Files:
4 edited

Legend:

Unmodified
Added
Removed
  • trunk/lib/FlairFilter/CMakeLists.txt

    r211 r216  
    2525        ${CMAKE_CURRENT_SOURCE_DIR}/src/
    2626        ${CMAKE_SYSROOT}/usr/include/opencv1
     27    ${CMAKE_SYSROOT}/usr/include/opencv
    2728        ${CMAKE_SYSROOT}/usr/include/iir
    2829)
  • trunk/lib/FlairFilter/src/ControlLaw.h

    r214 r216  
    8888  * \brief Reset the internal state of the control law
    8989  *
    90   * Doesn't do anything by default
     90  * Does nothing by default
    9191  *
    9292  */
  • trunk/lib/FlairFilter/src/PidThrust.cpp

    r214 r216  
    4343}
    4444
     45void PidThrust::Reset(void) {
     46  ResetI();
     47  SetDefaultOffset();
     48  SetValues(0,0);
     49}
     50
    4551void PidThrust::ResetI(void) { pimpl_->i = 0; }
    4652
    47 float PidThrust::GetOffset(void) { return pimpl_->offset_g; }
     53float PidThrust::GetOffset(void) const { return pimpl_->offset_g; }
     54
     55float PidThrust::GetIntegral(void) const { return pimpl_->i; }
    4856
    4957void PidThrust::UpdateFrom(const io_data *data) {
  • trunk/lib/FlairFilter/src/PidThrust.h

    r206 r216  
    5555
    5656  /*!
     57  * \brief Reset the control law
     58  * equivalent to:
     59  * ResetI();
     60  * SetDefaultOffset();
     61  * SetValues(0,0);
     62  *
     63  */
     64  void Reset(void);
     65 
     66  /*!
    5767  * \brief Reset integral to 0
    5868  *
     
    7888  * \return current offset
    7989  */
    80   float GetOffset(void);
     90  float GetOffset(void) const;
     91 
     92  /*!
     93  * \brief Get intergral part
     94  *
     95  * \return current integral part
     96  */
     97  float GetIntegral(void) const;
    8198
    8299  /*!
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