Pid.h

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// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
#ifndef PID_H
#define PID_H

#include <ControlLaw.h>

namespace flair {
namespace gui {
class LayoutPosition;
}
}

class Pid_impl;

namespace flair {
namespace filter {
class Pid : public ControlLaw {
  friend class ::Pid_impl;

public:
  Pid(const gui::LayoutPosition *position, std::string name);

  ~Pid();

  void Reset(void);
  
  float GetIntegral(void) const;


  void SetValues(float p, float d);

  void UseDefaultPlot(const gui::LayoutPosition *position);

private:
  void UpdateFrom(const core::io_data *data);

  Pid_impl *pimpl_;
};
} // end namespace filter
} // end namespace flair
#endif // PID_H