Framework Libre Air
flair::filter::Pid Class Reference

Class defining a PID. More...

#include <Pid.h>

+ Inheritance diagram for flair::filter::Pid:

Public Member Functions

 Pid (const gui::LayoutPosition *position, std::string name)
 Constructor. More...
 ~Pid ()
 Destructor. More...
void Reset (void)
 Reset integral. More...
float GetIntegral (void) const
 Get intergral part. More...
void SetValues (float p, float d)
 Set input values. More...
void UseDefaultPlot (const gui::LayoutPosition *position)
 Use default plot. More...
- Public Member Functions inherited from flair::filter::ControlLaw
 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...
void Update (core::Time time)
 Update using provided datas. 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 ObjectParent (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...

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...
- Protected Attributes inherited from flair::filter::ControlLaw
 input matrix More...
 output matrix More...

Detailed Description

Class defining a PID.

Constructor & Destructor Documentation

flair::filter::Pid::Pid ( const gui::LayoutPosition position,
std::string  name 


Construct a PID at given position.
The PID will automatically be child of position->getLayout() Layout. After calling this function, position will be deleted as it is no longer usefull.

positionposition to display settings
flair::filter::Pid::~Pid ( )


Member Function Documentation

void flair::filter::Pid::Reset ( void  )

Reset integral.

Reimplemented from flair::filter::ControlLaw.

float flair::filter::Pid::GetIntegral ( void  ) const

Get intergral part.

current integral part
void flair::filter::Pid::SetValues ( float  p,
float  d 

Set input values.

pproportional value
dderivative value
void flair::filter::Pid::UseDefaultPlot ( const gui::LayoutPosition position)

Use default plot.

Plot the output values at position.
Plot consists of 4 curves: proportional part, derivative part, integral part and the sum of the three.
After calling this function, position will be deleted as it is no longer usefull.

positionposition to display plot

Reimplemented from flair::filter::ControlLaw.