PID.hh

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/*
 * Copyright (C) 2012-2014 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/

#ifndef _GAZEBO_PID_HH_
#define _GAZEBO_PID_HH_

#include "gazebo/common/Time.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace common
  {

    class GAZEBO_VISIBLE PID
    {
      public: PID(double _p = 0.0, double _i = 0.0, double _d = 0.0,
                  double _imax = 0.0, double _imin = 0.0,
                  double _cmdMax = 0.0, double _cmdMin = 0.0);

      public: virtual ~PID();

      public: void Init(double _p = 0.0, double _i = 0.0, double _d = 0.0,
                        double _imax = 0.0, double _imin = 0.0,
                        double _cmdMax = 0.0, double _cmdMin = 0.0);

      public: void SetPGain(double _p);

      public: void SetIGain(double _i);

      public: void SetDGain(double _d);

      public: void SetIMax(double _i);

      public: void SetIMin(double _i);

      public: void SetCmdMax(double _c);

      public: void SetCmdMin(double _c);

      public: double GetPGain() const;

      public: double GetIGain() const;

      public: double GetDGain() const;

      public: double GetIMax() const;

      public: double GetIMin() const;

      public: double GetCmdMax() const;

      public: double GetCmdMin() const;

      public: double Update(double _error, common::Time _dt);

      public: void SetCmd(double _cmd);

      public: double GetCmd();

      public: void GetErrors(double &_pe, double &_ie, double &_de);

      public: PID &operator=(const PID &_p)
              {
                if (this == &_p)
                  return *this;

                this->pGain = _p.pGain;
                this->iGain = _p.iGain;
                this->dGain = _p.dGain;
                this->iMax = _p.iMax;
                this->iMin = _p.iMin;
                this->cmdMax = _p.cmdMax;
                this->cmdMin = _p.cmdMin;
                this->pErrLast = _p.pErrLast;
                this->pErr = _p.pErr;
                this->iErr = _p.iErr;
                this->dErr = _p.dErr;
                this->cmd = _p.cmd;

                this->Reset();
                return *this;
              }

      public: void Reset();

      private: double pErrLast;

      private: double pErr;

      private: double iErr;

      private: double dErr;

      private: double pGain;

      private: double iGain;

      private: double dGain;

      private: double iMax;

      private: double iMin;

      private: double cmd;

      private: double cmdMax;

      private: double cmdMin;
    };
  }
}
#endif