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<li class="navelem"><a class="el" href="namespaceackermann.html">ackermann</a></li><li class="navelem"><a class="el" href="classackermann_1_1_p_i_d.html">PID</a></li> </ul>
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<div class="header">
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<a href="#pub-methods">Public Member Functions</a> |
<a href="classackermann_1_1_p_i_d-members.html">List of all members</a> </div>
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<div class="title">ackermann::PID Class Reference</div> </div>
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<p>This class implements a <a class="el" href="classackermann_1_1_p_i_d.html" title="This class implements a PID controller with max/min clamping of output values to prevent integral win...">PID</a> controller with max/min clamping of output values to prevent integral windup.
<a href="classackermann_1_1_p_i_d.html#details">More...</a></p>
<p><code>#include <<a class="el" href="_p_i_d_8hpp_source.html">PID.hpp</a>></code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a98e96878fcc3373f22d783b78c7cf0d9"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classackermann_1_1_p_i_d.html#a98e96878fcc3373f22d783b78c7cf0d9">PID</a> (const std::shared_ptr< const <a class="el" href="structackermann_1_1_p_i_d_params.html">PIDParams</a> > &params, double out_minLimit=std::numeric_limits< double >::lowest(), double out_maxLimit=std::numeric_limits< double >::max())</td></tr>
<tr class="memdesc:a98e96878fcc3373f22d783b78c7cf0d9"><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <a href="classackermann_1_1_p_i_d.html#a98e96878fcc3373f22d783b78c7cf0d9">More...</a><br /></td></tr>
<tr class="separator:a98e96878fcc3373f22d783b78c7cf0d9"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a3257bf60c93eb2a3b18b48a40a480b2d"><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classackermann_1_1_p_i_d.html#a3257bf60c93eb2a3b18b48a40a480b2d">get_k_p</a> () const</td></tr>
<tr class="memdesc:a3257bf60c93eb2a3b18b48a40a480b2d"><td class="mdescLeft"> </td><td class="mdescRight">Get the kP Proportional Gain. <a href="classackermann_1_1_p_i_d.html#a3257bf60c93eb2a3b18b48a40a480b2d">More...</a><br /></td></tr>
<tr class="separator:a3257bf60c93eb2a3b18b48a40a480b2d"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a9845f8af09db7e901d319c53e4e43268"><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classackermann_1_1_p_i_d.html#a9845f8af09db7e901d319c53e4e43268">get_k_i</a> () const</td></tr>
<tr class="memdesc:a9845f8af09db7e901d319c53e4e43268"><td class="mdescLeft"> </td><td class="mdescRight">Get the kI Integral Gain. <a href="classackermann_1_1_p_i_d.html#a9845f8af09db7e901d319c53e4e43268">More...</a><br /></td></tr>
<tr class="separator:a9845f8af09db7e901d319c53e4e43268"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:aaf565af4f72abcf148b8abe8880df6c3"><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classackermann_1_1_p_i_d.html#aaf565af4f72abcf148b8abe8880df6c3">get_k_d</a> () const</td></tr>
<tr class="memdesc:aaf565af4f72abcf148b8abe8880df6c3"><td class="mdescLeft"> </td><td class="mdescRight">Get the kD Derivative Gain. <a href="classackermann_1_1_p_i_d.html#aaf565af4f72abcf148b8abe8880df6c3">More...</a><br /></td></tr>
<tr class="separator:aaf565af4f72abcf148b8abe8880df6c3"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a6286415d935d49dceba543deb4356b42"><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classackermann_1_1_p_i_d.html#a6286415d935d49dceba543deb4356b42">getCommand</a> (double current_error, double dt)</td></tr>
<tr class="memdesc:a6286415d935d49dceba543deb4356b42"><td class="mdescLeft"> </td><td class="mdescRight">Perform <a class="el" href="classackermann_1_1_p_i_d.html" title="This class implements a PID controller with max/min clamping of output values to prevent integral win...">PID</a> Calculation. <a href="classackermann_1_1_p_i_d.html#a6286415d935d49dceba543deb4356b42">More...</a><br /></td></tr>
<tr class="separator:a6286415d935d49dceba543deb4356b42"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a1f2e47eb9958ec5d1887bf7c5f82175a"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classackermann_1_1_p_i_d.html#a1f2e47eb9958ec5d1887bf7c5f82175a">reset_PID</a> ()</td></tr>
<tr class="memdesc:a1f2e47eb9958ec5d1887bf7c5f82175a"><td class="mdescLeft"> </td><td class="mdescRight">Reset the <a class="el" href="classackermann_1_1_p_i_d.html" title="This class implements a PID controller with max/min clamping of output values to prevent integral win...">PID</a>. <a href="classackermann_1_1_p_i_d.html#a1f2e47eb9958ec5d1887bf7c5f82175a">More...</a><br /></td></tr>
<tr class="separator:a1f2e47eb9958ec5d1887bf7c5f82175a"><td class="memSeparator" colspan="2"> </td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>This class implements a <a class="el" href="classackermann_1_1_p_i_d.html" title="This class implements a PID controller with max/min clamping of output values to prevent integral win...">PID</a> controller with max/min clamping of output values to prevent integral windup. </p>
</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
<a id="a98e96878fcc3373f22d783b78c7cf0d9"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a98e96878fcc3373f22d783b78c7cf0d9">◆ </a></span>PID()</h2>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
<tr>
<td class="mlabels-left">
<table class="memname">
<tr>
<td class="memname">ackermann::PID::PID </td>
<td>(</td>
<td class="paramtype">const std::shared_ptr< const <a class="el" href="structackermann_1_1_p_i_d_params.html">PIDParams</a> > & </td>
<td class="paramname"><em>params</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>out_minLimit</em> = <code>std::numeric_limits<double>::lowest()</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>out_maxLimit</em> = <code>std::numeric_limits<double>::max()</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</td>
<td class="mlabels-right">
<span class="mlabels"><span class="mlabel">explicit</span></span> </td>
</tr>
</table>
</div><div class="memdoc">
<p>Constructor. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">params</td><td>Shared <a class="el" href="structackermann_1_1_p_i_d_params.html" title="Structure containing PID parameters.">PIDParams</a> pointer detailing <a class="el" href="classackermann_1_1_p_i_d.html" title="This class implements a PID controller with max/min clamping of output values to prevent integral win...">PID</a> parameters (kP, kI, kD) </td></tr>
<tr><td class="paramname">out_minLimit</td><td>Optional, clamp minimum value of <a class="el" href="classackermann_1_1_p_i_d.html" title="This class implements a PID controller with max/min clamping of output values to prevent integral win...">PID</a> controller output </td></tr>
<tr><td class="paramname">out_maxLimit</td><td>Optional, clamp maximum value of <a class="el" href="classackermann_1_1_p_i_d.html" title="This class implements a PID controller with max/min clamping of output values to prevent integral win...">PID</a> controller output </td></tr>
</table>
</dd>
</dl>
</div>
</div>
<h2 class="groupheader">Member Function Documentation</h2>
<a id="aaf565af4f72abcf148b8abe8880df6c3"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aaf565af4f72abcf148b8abe8880df6c3">◆ </a></span>get_k_d()</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
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<td class="memname">double ackermann::PID::get_k_d </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const</td>
</tr>
</table>
</div><div class="memdoc">
<p>Get the kD Derivative Gain. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">None</td><td></td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Derivative Gain </dd></dl>
</div>
</div>
<a id="a9845f8af09db7e901d319c53e4e43268"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a9845f8af09db7e901d319c53e4e43268">◆ </a></span>get_k_i()</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">double ackermann::PID::get_k_i </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const</td>
</tr>
</table>
</div><div class="memdoc">
<p>Get the kI Integral Gain. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">None</td><td></td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Proportional Gain </dd></dl>
</div>
</div>
<a id="a3257bf60c93eb2a3b18b48a40a480b2d"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a3257bf60c93eb2a3b18b48a40a480b2d">◆ </a></span>get_k_p()</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">double ackermann::PID::get_k_p </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const</td>
</tr>
</table>
</div><div class="memdoc">
<p>Get the kP Proportional Gain. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">None</td><td></td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Proportional Gain </dd></dl>
</div>
</div>
<a id="a6286415d935d49dceba543deb4356b42"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a6286415d935d49dceba543deb4356b42">◆ </a></span>getCommand()</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">double ackermann::PID::getCommand </td>
<td>(</td>
<td class="paramtype">double </td>
<td class="paramname"><em>current_error</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>dt</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div><div class="memdoc">
<p>Perform <a class="el" href="classackermann_1_1_p_i_d.html" title="This class implements a PID controller with max/min clamping of output values to prevent integral win...">PID</a> Calculation. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">current_error</td><td>Current Error (Feedback) </td></tr>
<tr><td class="paramname">dt</td><td>Change in time since previous value collected. </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Output </dd></dl>
</div>
</div>
<a id="a1f2e47eb9958ec5d1887bf7c5f82175a"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a1f2e47eb9958ec5d1887bf7c5f82175a">◆ </a></span>reset_PID()</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void ackermann::PID::reset_PID </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div><div class="memdoc">
<p>Reset the <a class="el" href="classackermann_1_1_p_i_d.html" title="This class implements a PID controller with max/min clamping of output values to prevent integral win...">PID</a>. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">None</td><td></td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>None </dd></dl>
</div>
</div>
<hr/>The documentation for this class was generated from the following files:<ul>
<li>include/<a class="el" href="_p_i_d_8hpp_source.html">PID.hpp</a></li>
<li>app/PID.cpp</li>
</ul>
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