PidThrust.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 PIDTHRUST_H
#define PIDTHRUST_H

#include <ControlLaw.h>

namespace flair {
namespace gui {
class LayoutPosition;
}
}

class PidThrust_impl;

namespace flair {
namespace filter {
class PidThrust : public ControlLaw {
  friend class ::PidThrust_impl;

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

  ~PidThrust();

  void Reset(void);
  
  void ResetI(void);

  void SetOffset(float value);
  
  void SetDefaultOffset(void);

  float GetOffset(void) const;
  
  float GetIntegral(void) const;

  bool OffsetStepUp(void);

  bool OffsetStepDown(void);

  void SetValues(float p, float d);

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

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

  PidThrust_impl *pimpl_;
};
} // end namespace filter
} // end namespace flair
#endif // PIDTHRUST_H