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gazebo
common
PID.hh
Go to the documentation of this file.
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/*
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* Copyright 2012 Nate Koenig
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef _GAZEBO_PID_HH_
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#define _GAZEBO_PID_HH_
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#include "
common/Time.hh
"
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namespace
gazebo
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{
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namespace
common
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{
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class
PID
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{
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public
:
PID
(
double
_p = 0.0,
double
_i = 0.0,
double
_d = 0.0,
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double
_imax = 0.0,
double
_imin = 0.0,
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double
_cmdMax = 0.0,
double
_cmdMin = 0.0);
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public
:
virtual
~PID
();
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public
:
void
Init
(
double
_p = 0.0,
double
_i = 0.0,
double
_d = 0.0,
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double
_imax = 0.0,
double
_imin = 0.0,
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double
_cmdMax = 0.0,
double
_cmdMin = 0.0);
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public
:
void
SetPGain
(
double
_p);
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public
:
void
SetIGain
(
double
_i);
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public
:
void
SetDGain
(
double
_d);
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public
:
void
SetIMax
(
double
_i);
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public
:
void
SetIMin
(
double
_i);
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public
:
void
SetCmdMax
(
double
_c);
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public
:
void
SetCmdMin
(
double
_c);
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public
:
double
Update
(
double
_error,
common::Time
_dt);
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public
:
void
SetCmd
(
double
_cmd);
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public
:
double
GetCmd
();
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public
:
void
GetErrors
(
double
&_pe,
double
&_ie,
double
&_de);
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public
:
PID
&
operator=
(
const
PID
&_p)
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{
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if
(
this
== &_p)
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return
*
this
;
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this->pGain = _p.pGain;
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this->iGain = _p.iGain;
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this->dGain = _p.dGain;
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this->iMax = _p.iMax;
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this->iMin = _p.iMin;
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this->cmdMax = _p.cmdMax;
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this->
Reset
();
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return
*
this
;
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}
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public
:
void
Reset
();
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private
:
double
pErrLast;
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private
:
double
pErr;
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private
:
double
iErr;
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private
:
double
dErr;
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private
:
double
pGain;
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private
:
double
iGain;
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private
:
double
dGain;
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private
:
double
iMax;
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private
:
double
iMin;
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private
:
double
cmd;
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private
:
double
cmdMax;
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private
:
double
cmdMin;
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};
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}
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}
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#endif