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<a href="_p_i_d_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="preprocessor">#pragma once</span></div><div class="line"><a name="l00002"></a><span class="lineno"> 2</span> </div><div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="preprocessor">#include <memory></span></div><div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="preprocessor">#include <limits></span></div><div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="preprocessor">#include <<a class="code" href="_params_8hpp.html">Params.hpp</a>></span></div><div class="line"><a name="l00016"></a><span class="lineno"> 16</span> </div><div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="keyword">namespace </span><a class="code" href="namespaceackermann.html">ackermann</a> {</div><div class="line"><a name="l00018"></a><span class="lineno"> 18</span> </div><div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="classackermann_1_1_p_i_d.html"> 23</a></span> <span class="keyword">class </span><a class="code" href="classackermann_1_1_p_i_d.html">PID</a> {</div><div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  <span class="keyword">public</span>:</div><div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  <span class="keyword">explicit</span> <a class="code" href="classackermann_1_1_p_i_d.html#a98e96878fcc3373f22d783b78c7cf0d9">PID</a>(<span class="keyword">const</span> std::shared_ptr<const PIDParams>& params,</div><div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  <span class="keywordtype">double</span> out_minLimit = std::numeric_limits<double>::lowest(),</div><div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  <span class="keywordtype">double</span> out_maxLimit = std::numeric_limits<double>::max());</div><div class="line"><a name="l00037"></a><span class="lineno"> 37</span> </div><div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  <span class="keywordtype">double</span> <a class="code" href="classackermann_1_1_p_i_d.html#a3257bf60c93eb2a3b18b48a40a480b2d">get_k_p</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00044"></a><span class="lineno"> 44</span> </div><div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  <span class="keywordtype">double</span> <a class="code" href="classackermann_1_1_p_i_d.html#a9845f8af09db7e901d319c53e4e43268">get_k_i</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00051"></a><span class="lineno"> 51</span> </div><div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <span class="keywordtype">double</span> <a class="code" href="classackermann_1_1_p_i_d.html#aaf565af4f72abcf148b8abe8880df6c3">get_k_d</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00058"></a><span class="lineno"> 58</span> </div><div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  <span class="keywordtype">double</span> <a class="code" href="classackermann_1_1_p_i_d.html#a6286415d935d49dceba543deb4356b42">getCommand</a>(<span class="keywordtype">double</span> current_error, <span class="keywordtype">double</span> dt);</div><div class="line"><a name="l00065"></a><span class="lineno"> 65</span> </div><div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="keywordtype">void</span> <a class="code" href="classackermann_1_1_p_i_d.html#a1f2e47eb9958ec5d1887bf7c5f82175a">reset_PID</a>();</div><div class="line"><a name="l00072"></a><span class="lineno"> 72</span> </div><div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  <span class="keyword">private</span>:</div><div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  <span class="keyword">const</span> std::shared_ptr<const PIDParams> params_;</div><div class="line"><a name="l00078"></a><span class="lineno"> 78</span> </div><div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  <span class="keywordtype">double</span> prev_error_;</div><div class="line"><a name="l00083"></a><span class="lineno"> 83</span> </div><div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  <span class="keywordtype">double</span> integral_error_;</div><div class="line"><a name="l00088"></a><span class="lineno"> 88</span> </div><div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  <span class="keywordtype">double</span> out_minLimit_;</div><div class="line"><a name="l00093"></a><span class="lineno"> 93</span> </div><div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  <span class="keywordtype">double</span> out_maxLimit_;</div><div class="line"><a name="l00098"></a><span class="lineno"> 98</span> };</div><div class="line"><a name="l00099"></a><span class="lineno"> 99</span> </div><div class="line"><a name="l00100"></a><span class="lineno"> 100</span> } <span class="comment">// namespace ackermann</span></div><div class="ttc" id="classackermann_1_1_p_i_d_html_a9845f8af09db7e901d319c53e4e43268"><div class="ttname"><a href="classackermann_1_1_p_i_d.html#a9845f8af09db7e901d319c53e4e43268">ackermann::PID::get_k_i</a></div><div class="ttdeci">double get_k_i() const</div><div class="ttdoc">Get the kI Integral Gain. </div><div class="ttdef"><b>Definition:</b> PID.cpp:26</div></div>
<div class="ttc" id="namespaceackermann_html"><div class="ttname"><a href="namespaceackermann.html">ackermann</a></div><div class="ttdoc">Namespace for Ackermann controller implementation. </div><div class="ttdef"><b>Definition:</b> Controller.cpp:14</div></div>
<div class="ttc" id="classackermann_1_1_p_i_d_html_a1f2e47eb9958ec5d1887bf7c5f82175a"><div class="ttname"><a href="classackermann_1_1_p_i_d.html#a1f2e47eb9958ec5d1887bf7c5f82175a">ackermann::PID::reset_PID</a></div><div class="ttdeci">void reset_PID()</div><div class="ttdoc">Reset the PID. </div><div class="ttdef"><b>Definition:</b> PID.cpp:52</div></div>
<div class="ttc" id="classackermann_1_1_p_i_d_html_a98e96878fcc3373f22d783b78c7cf0d9"><div class="ttname"><a href="classackermann_1_1_p_i_d.html#a98e96878fcc3373f22d783b78c7cf0d9">ackermann::PID::PID</a></div><div class="ttdeci">PID(const std::shared_ptr< const PIDParams > &params, double out_minLimit=std::numeric_limits< double >::lowest(), double out_maxLimit=std::numeric_limits< double >::max())</div><div class="ttdoc">Constructor. </div><div class="ttdef"><b>Definition:</b> PID.cpp:15</div></div>
<div class="ttc" id="classackermann_1_1_p_i_d_html_a6286415d935d49dceba543deb4356b42"><div class="ttname"><a href="classackermann_1_1_p_i_d.html#a6286415d935d49dceba543deb4356b42">ackermann::PID::getCommand</a></div><div class="ttdeci">double getCommand(double current_error, double dt)</div><div class="ttdoc">Perform PID Calculation. </div><div class="ttdef"><b>Definition:</b> PID.cpp:29</div></div>
<div class="ttc" id="_params_8hpp_html"><div class="ttname"><a href="_params_8hpp.html">Params.hpp</a></div><div class="ttdoc">Parameters used in the Ackermann controller system. </div></div>
<div class="ttc" id="classackermann_1_1_p_i_d_html_aaf565af4f72abcf148b8abe8880df6c3"><div class="ttname"><a href="classackermann_1_1_p_i_d.html#aaf565af4f72abcf148b8abe8880df6c3">ackermann::PID::get_k_d</a></div><div class="ttdeci">double get_k_d() const</div><div class="ttdoc">Get the kD Derivative Gain. </div><div class="ttdef"><b>Definition:</b> PID.cpp:27</div></div>
<div class="ttc" id="classackermann_1_1_p_i_d_html_a3257bf60c93eb2a3b18b48a40a480b2d"><div class="ttname"><a href="classackermann_1_1_p_i_d.html#a3257bf60c93eb2a3b18b48a40a480b2d">ackermann::PID::get_k_p</a></div><div class="ttdeci">double get_k_p() const</div><div class="ttdoc">Get the kP Proportional Gain. </div><div class="ttdef"><b>Definition:</b> PID.cpp:25</div></div>
<div class="ttc" id="classackermann_1_1_p_i_d_html"><div class="ttname"><a href="classackermann_1_1_p_i_d.html">ackermann::PID</a></div><div class="ttdoc">This class implements a PID controller with max/min clamping of output values to prevent integral win...</div><div class="ttdef"><b>Definition:</b> PID.hpp:23</div></div>
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