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>
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::Matrix * | input |
input matrix More... | |
core::Matrix * | 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 |
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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.
Does nothing 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.