LocalGuidance
A library that generates velocity references to follow a path.
robot_utils::PIDController Class Reference

#include <PIDController.hpp>

Inheritance diagram for robot_utils::PIDController:
Inheritance graph

Public Member Functions

 PIDController ()
 
 PIDController (const double maxEffort, const double kp, const double ki=0.0, const double kd=0.0, const double kf=0.0, const double maxIntegratorInput=std::numeric_limits< double >::max())
 
virtual ~PIDController ()=default
 
void Reset ()
 
double Update (const double dt, const double desired, const double measured)
 
double Update (const double dt, const double desired, const double measured, const double desiredDerivative)
 
double Update (const double dt, const double desired, const double measured, const double desiredDerivative, const double measuredDerivative)
 
void SetGains (const double kp, const double ki=0.0, const double kd=0.0, const double kf=0.0)
 
void setKp (const double kp)
 
void setKi (const double ki)
 
void setKd (const double kd)
 
void setKf (const double kf)
 
void SetMaxEffort (const double eff)
 
void SetMaxIntegratorInput (const double maxIntInput)
 
double getKp () const
 
double getKi () const
 
double getKd () const
 
double getKf () const
 
double getMaxEffort () const
 
double getMaxIntegratorInput () const
 
bool addParametersToHandler (const std::string &pidName)
 

Protected Attributes

double previousMeasured_
 
double integral_
 
parameter_handler::Parameter< double > maxEffort_
 
parameter_handler::Parameter< double > kp_
 
parameter_handler::Parameter< double > ki_
 
parameter_handler::Parameter< double > kd_
 
parameter_handler::Parameter< double > kf_
 
parameter_handler::Parameter< double > maxIntegratorInput_
 

Constructor & Destructor Documentation

robot_utils::PIDController::PIDController ( )
robot_utils::PIDController::PIDController ( const double  maxEffort,
const double  kp,
const double  ki = 0.0,
const double  kd = 0.0,
const double  kf = 0.0,
const double  maxIntegratorInput = std::numeric_limits< double >::max() 
)
virtual robot_utils::PIDController::~PIDController ( )
virtualdefault

Member Function Documentation

bool robot_utils::PIDController::addParametersToHandler ( const std::string &  pidName)
double robot_utils::PIDController::getKd ( ) const
inline
double robot_utils::PIDController::getKf ( ) const
inline
double robot_utils::PIDController::getKi ( ) const
inline
double robot_utils::PIDController::getKp ( ) const
inline
double robot_utils::PIDController::getMaxEffort ( ) const
inline
double robot_utils::PIDController::getMaxIntegratorInput ( ) const
inline
void robot_utils::PIDController::Reset ( )
void robot_utils::PIDController::SetGains ( const double  kp,
const double  ki = 0.0,
const double  kd = 0.0,
const double  kf = 0.0 
)
inline
void robot_utils::PIDController::setKd ( const double  kd)
inline
void robot_utils::PIDController::setKf ( const double  kf)
inline
void robot_utils::PIDController::setKi ( const double  ki)
inline
void robot_utils::PIDController::setKp ( const double  kp)
inline
void robot_utils::PIDController::SetMaxEffort ( const double  eff)
inline
void robot_utils::PIDController::SetMaxIntegratorInput ( const double  maxIntInput)
inline
double robot_utils::PIDController::Update ( const double  dt,
const double  desired,
const double  measured 
)
double robot_utils::PIDController::Update ( const double  dt,
const double  desired,
const double  measured,
const double  desiredDerivative 
)
double robot_utils::PIDController::Update ( const double  dt,
const double  desired,
const double  measured,
const double  desiredDerivative,
const double  measuredDerivative 
)

Member Data Documentation

double robot_utils::PIDController::integral_
protected
parameter_handler::Parameter<double> robot_utils::PIDController::kd_
protected
parameter_handler::Parameter<double> robot_utils::PIDController::kf_
protected
parameter_handler::Parameter<double> robot_utils::PIDController::ki_
protected
parameter_handler::Parameter<double> robot_utils::PIDController::kp_
protected
parameter_handler::Parameter<double> robot_utils::PIDController::maxEffort_
protected
parameter_handler::Parameter<double> robot_utils::PIDController::maxIntegratorInput_
protected
double robot_utils::PIDController::previousMeasured_
protected

The documentation for this class was generated from the following file: