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Flair
Framework Libre Air
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Base class for control law input must be created by reimplemented class.
output is created by this class, it is of size (nb_out,1) and type float.
see constructor for nb_out.
More...
#include <ControlLaw.h>
Inheritance diagram for flair::filter::ControlLaw:Public Member Functions | |
| ControlLaw (const core::Object *parent, std::string name, uint32_t nb_out=1) | |
| Constructor. More... | |
| ~ControlLaw () | |
| Destructor. More... | |
| float | Output (uint32_t index=0) const |
| Output value. More... | |
| virtual void | UseDefaultPlot (const gui::LayoutPosition *position) |
| Use default plot. More... | |
| void | Update (core::Time time) |
| Update using provided datas. More... | |
| virtual void | Reset () |
| Reset the internal state of the control law. More... | |
Public Member Functions inherited from flair::core::IODevice | |
| IODevice (const Object *parent, std::string name) | |
| Constructor. More... | |
| virtual | ~IODevice () |
| Destructor. More... | |
| void | AddDeviceToLog (const IODevice *device) |
| Add an IODevice to the logs. More... | |
| void | AddDataToLog (const io_data *data) |
| Add an io_data to the log. More... | |
| void | OutputToShMem (bool enabled) |
| Send the output to a shared memory. More... | |
| bool | IsReady (void) const |
| is device ready More... | |
| virtual DataType const & | GetInputDataType () const |
| virtual DataType const & | GetOutputDataType () const |
Public Member Functions inherited from flair::core::Object | |
| Object (const Object *parent=NULL, std::string name="", std::string type="") | |
| Constructor. More... | |
| virtual | ~Object () |
| Destructor. More... | |
| std::string | ObjectName (void) const |
| Name. More... | |
| std::string | ObjectType (void) const |
| Type. More... | |
| const Object * | Parent (void) const |
| Parent. More... | |
| std::vector< const Object * > * | TypeChilds (void) const |
| Childs of the same type. More... | |
| std::vector< const Object * > * | Childs (void) const |
| Childs. More... | |
| void | Information (const char *function, int line, const char *format,...) const |
| Formatted information. More... | |
| void | Warning (const char *function, const char *format,...) const |
| Formatted warning. More... | |
| void | Error (const char *function, const char *format,...) const |
| Formatted error. More... | |
| bool | ErrorOccured (bool recursive=true) const |
| Has an errror occured? More... | |
Protected Attributes | |
| core::cvmatrix * | input |
| input matrix More... | |
| core::cvmatrix * | output |
| output matrix More... | |
Additional Inherited Members | |
Public Types inherited from flair::core::Object | |
| enum | color_t { Auto = 0, Red = 31, Green = 32, Orange = 33 } |
Protected Member Functions inherited from flair::core::IODevice | |
| void | ProcessUpdate (io_data *data) |
| Process the childs of type IODevice, and log if needed. More... | |
| void | SetIsReady (bool status) |
| set is ready More... | |
Base class for control law input must be created by reimplemented class.
output is created by this class, it is of size (nb_out,1) and type float.
see constructor for nb_out.
| flair::filter::ControlLaw::ControlLaw | ( | const core::Object * | parent, |
| std::string | name, | ||
| uint32_t | nb_out = 1 |
||
| ) |
| flair::filter::ControlLaw::~ControlLaw | ( | ) |
Destructor.
| float flair::filter::ControlLaw::Output | ( | uint32_t | index = 0 | ) | const |
Output value.
| index | output index, between 0 and nb_out-1 |
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virtual |
Use default plot.
Plot the output value at given position.
Only Output(1,1) is plotted.
In case of a mutliple output ControlLaw, this function should be reimplemented.
After calling this function, position will be deleted as it is no longer usefull.
| position | position to display plot |
Reimplemented in flair::filter::PidThrust, and flair::filter::Pid.
| void flair::filter::ControlLaw::Update | ( | core::Time | time | ) |
Update using provided datas.
Reimplemented class must fill input matrix before calling this.
| time | time of the update |
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inlinevirtual |
Reset the internal state of the control law.
Doesn't do anything by default
Reimplemented in flair::filter::PidThrust, and flair::filter::Pid.
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protected |
input matrix
This matrix must be created by the reimplemented class.
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protected |
output matrix
This matrix is created by this class. Its size is (nb_out,1) and its type is io_data::Float.