pid_fuzzy.h

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#ifndef LIBA_PID_FUZZY_H
#define LIBA_PID_FUZZY_H
 
#include "pid.h"
#include "fuzzy.h"

 
typedef struct a_pid_fuzzy a_pid_fuzzy;

enum
{
    A_PID_FUZZY_EQU, 
    A_PID_FUZZY_CAP, 
    A_PID_FUZZY_CAP_ALGEBRA, 
    A_PID_FUZZY_CAP_BOUNDED, 
    A_PID_FUZZY_CUP, 
    A_PID_FUZZY_CUP_ALGEBRA, 
    A_PID_FUZZY_CUP_BOUNDED 
};
 
#if defined(__cplusplus)
extern "C" {
#endif /* __cplusplus */

#define a_pid_fuzzy_init(ctx) a_pid_fuzzy_zero(ctx)

A_EXTERN a_real (*a_pid_fuzzy_opr(unsigned int opr))(a_real, a_real);

A_EXTERN void a_pid_fuzzy_set_opr(a_pid_fuzzy *ctx, unsigned int opr);

A_EXTERN void *a_pid_fuzzy_bfuzz(a_pid_fuzzy const *ctx);

A_EXTERN void a_pid_fuzzy_set_bfuzz(a_pid_fuzzy *ctx, void *ptr, a_size num);

#define A_PID_FUZZY_BFUZZ(n) (sizeof(unsigned int) * (n) * 2 + sizeof(a_real) * (n) * (2 + (n)))

A_EXTERN void a_pid_fuzzy_set_rule(a_pid_fuzzy *ctx, unsigned int nrule, a_real const *me, a_real const *mec,
                                   a_real const *mkp, a_real const *mki, a_real const *mkd);

A_EXTERN void a_pid_fuzzy_set_kpid(a_pid_fuzzy *ctx, a_real kp, a_real ki, a_real kd);

A_EXTERN a_real a_pid_fuzzy_run(a_pid_fuzzy *ctx, a_real set, a_real fdb);

A_EXTERN a_real a_pid_fuzzy_pos(a_pid_fuzzy *ctx, a_real set, a_real fdb);

A_EXTERN a_real a_pid_fuzzy_inc(a_pid_fuzzy *ctx, a_real set, a_real fdb);

A_EXTERN void a_pid_fuzzy_zero(a_pid_fuzzy *ctx);
 
#if defined(__cplusplus)
} /* extern "C" */
namespace a
{
typedef struct a_pid_fuzzy pid_fuzzy;
} /* namespace a */
#endif /* __cplusplus */

struct a_pid_fuzzy
{
    a_pid pid; 
 
    a_real const *me; 
    a_real const *mec; 
    a_real const *mkp; 
    a_real const *mki; 
    a_real const *mkd; 
 
    unsigned int *idx; 
    a_real *val; 
 
    a_real (*opr)(a_real, a_real); 
 
    a_real kp; 
    a_real ki; 
    a_real kd; 
 
    unsigned int nrule; 
    unsigned int nfuzz; 
#if defined(__cplusplus)
    A_INLINE void init() { a_pid_fuzzy_init(this); }
    A_INLINE void set_opr(unsigned int opr_)
    {
        a_pid_fuzzy_set_opr(this, opr_);
    }
    A_INLINE void *bfuzz() const { return a_pid_fuzzy_bfuzz(this); }
    A_INLINE void set_bfuzz(void *ptr, a_size num)
    {
        a_pid_fuzzy_set_bfuzz(this, ptr, num);
    }
    A_INLINE void set_rule(unsigned int nrule_, a_real const *me_, a_real const *mec_,
                           a_real const *mkp_, a_real const *mki_, a_real const *mkd_)
    {
        a_pid_fuzzy_set_rule(this, nrule_, me_, mec_, mkp_, mki_, mkd_);
    }
    A_INLINE void set_kpid(a_real kp_, a_real ki_, a_real kd_)
    {
        a_pid_fuzzy_set_kpid(this, kp_, ki_, kd_);
    }
    A_INLINE a_real run(a_real set, a_real fdb)
    {
        return a_pid_fuzzy_run(this, set, fdb);
    }
    A_INLINE a_real pos(a_real set, a_real fdb)
    {
        return a_pid_fuzzy_pos(this, set, fdb);
    }
    A_INLINE a_real inc(a_real set, a_real fdb)
    {
        return a_pid_fuzzy_inc(this, set, fdb);
    }
    A_INLINE void zero() { a_pid_fuzzy_zero(this); }
#endif /* __cplusplus */
};
struct a_pid_fuzzy {…};

 
#endif /* a/pid_fuzzy.h */