UniSet
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extensions
include
PID.h
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/*
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* Copyright (c) 2015 Pavel Vainerman.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU Lesser General Public License as
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* published by the Free Software Foundation, version 2.1.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Lesser Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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// -----------------------------------------------------------------------------
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#ifndef PID_H_
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#define PID_H_
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// -----------------------------------------------------------------------------
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#include <sstream>
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#include <iomanip>
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// --------------------------------------------------------------------------
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namespace
uniset
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{
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// -----------------------------------------------------------------------------
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class
PID
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{
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public
:
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PID
();
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~
PID
();
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void
step
(
const
double
& X,
const
double
& Z,
const
double
& Ts );
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void
reset
();
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void
recalc
();
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double
Y
;
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double
Kc
;
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double
Ti
;
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double
Td
;
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double
vlim
;
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double
d0;
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double
d1;
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double
d2;
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double
sub1;
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double
sub2;
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double
sub;
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double
prevTs;
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friend
std::ostream& operator<<(std::ostream& os,
PID
& p );
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friend
std::ostream& operator<<(std::ostream& os,
PID
* p )
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{
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return
os << (*p);
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}
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protected
:
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private
:
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};
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// --------------------------------------------------------------------------
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}
// end of namespace uniset
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// -----------------------------------------------------------------------------
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#endif // PID_H_
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// -----------------------------------------------------------------------------
Документация по UniSet. Последние изменения: Вс 15 Янв 2017 18:59:12. Создано системой
1.8.1.2