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

#include <PIDControllerFeedForward.hpp>

Inheritance diagram for robot_utils::PIDControllerFeedForward:
Inheritance graph

Public Member Functions

 PIDControllerFeedForward ()
 
 PIDControllerFeedForward (const double maxEffort, const double kp, const double ki=0.0, const double kd=0.0, const double kf=0.0, const double feedForwardGain=0.0)
 
virtual ~PIDControllerFeedForward ()=default
 
double Update (const double dt, const double desired, const double measured, const double feedForward)
 
double Update (const double dt, const double desired, const double measured, const double desiredDerivative, const double feedForward)
 
double Update (const double dt, const double desired, const double measured, const double desiredDerivative, const double measuredDerivative, const double feedForward)
 
void setFeedForwardGain (const double gain)
 
double getFeedForwardGain () const
 
bool addParametersToHandler (const std::string &pidName)
 
- Public Member Functions inherited from robot_utils::PIDController
 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

parameter_handler::Parameter< double > feedForwardGain_
 
- Protected Attributes inherited from robot_utils::PIDController
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::PIDControllerFeedForward::PIDControllerFeedForward ( )
robot_utils::PIDControllerFeedForward::PIDControllerFeedForward ( const double  maxEffort,
const double  kp,
const double  ki = 0.0,
const double  kd = 0.0,
const double  kf = 0.0,
const double  feedForwardGain = 0.0 
)
virtual robot_utils::PIDControllerFeedForward::~PIDControllerFeedForward ( )
virtualdefault

Member Function Documentation

bool robot_utils::PIDControllerFeedForward::addParametersToHandler ( const std::string &  pidName)
double robot_utils::PIDControllerFeedForward::getFeedForwardGain ( ) const
inline
void robot_utils::PIDControllerFeedForward::setFeedForwardGain ( const double  gain)
inline
double robot_utils::PIDControllerFeedForward::Update ( const double  dt,
const double  desired,
const double  measured,
const double  feedForward 
)
double robot_utils::PIDControllerFeedForward::Update ( const double  dt,
const double  desired,
const double  measured,
const double  desiredDerivative,
const double  feedForward 
)
double robot_utils::PIDControllerFeedForward::Update ( const double  dt,
const double  desired,
const double  measured,
const double  desiredDerivative,
const double  measuredDerivative,
const double  feedForward 
)

Member Data Documentation

parameter_handler::Parameter<double> robot_utils::PIDControllerFeedForward::feedForwardGain_
protected

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