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PID.hh
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1 /*
2  * Copyright 2012 Nate Koenig
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 
18 #ifndef _GAZEBO_PID_HH_
19 #define _GAZEBO_PID_HH_
20 
21 #include "common/Time.hh"
22 
23 namespace gazebo
24 {
25  namespace common
26  {
29 
35  class PID
36  {
44  public: PID(double _p = 0.0, double _i = 0.0, double _d = 0.0,
45  double _imax = 0.0, double _imin = 0.0,
46  double _cmdMax = 0.0, double _cmdMin = 0.0);
47 
49  public: virtual ~PID();
50 
58  public: void Init(double _p = 0.0, double _i = 0.0, double _d = 0.0,
59  double _imax = 0.0, double _imin = 0.0,
60  double _cmdMax = 0.0, double _cmdMin = 0.0);
61 
64  public: void SetPGain(double _p);
65 
68  public: void SetIGain(double _i);
69 
72  public: void SetDGain(double _d);
73 
76  public: void SetIMax(double _i);
77 
80  public: void SetIMin(double _i);
81 
84  public: void SetCmdMax(double _c);
85 
88  public: void SetCmdMin(double _c);
89 
97  public: double Update(double _error, common::Time _dt);
98 
101  public: void SetCmd(double _cmd);
102 
105  public: double GetCmd();
106 
111  public: void GetErrors(double &_pe, double &_ie, double &_de);
112 
116  public: PID &operator=(const PID &_p)
117  {
118  if (this == &_p)
119  return *this;
120 
121  this->pGain = _p.pGain;
122  this->iGain = _p.iGain;
123  this->dGain = _p.dGain;
124  this->iMax = _p.iMax;
125  this->iMin = _p.iMin;
126  this->cmdMax = _p.cmdMax;
127 
128  this->Reset();
129  return *this;
130  }
131 
133  public: void Reset();
134 
136  private: double pErrLast;
137 
139  private: double pErr;
140 
142  private: double iErr;
143 
145  private: double dErr;
146 
148  private: double pGain;
149 
151  private: double iGain;
152 
154  private: double dGain;
155 
157  private: double iMax;
158 
160  private: double iMin;
161 
163  private: double cmd;
164 
166  private: double cmdMax;
167 
169  private: double cmdMin;
170  };
172  }
173 }
174 #endif