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art_common::pid::Pid Class Reference

List of all members.

Public Member Functions

def __init__
def CfgParam
def Clear
def Configure
def CopyHistory
def Update

Public Attributes

 C
 dstate
 istate
 kd
 ki
 kp
 name
 omax
 omin
 starting

Detailed Description

Definition at line 25 of file pid.py.


Member Function Documentation

def art_common::pid::Pid::__init__ (   self,
  ctlname,
  kp = 1.0,
  ki = 0.0,
  kd = 0.0,
  omax = FLT_MAX,
  omin = -FLT_MAX,
  C = 0.0 
)
@brief Constructor
    @param ctlname control output name for log messages

Definition at line 27 of file pid.py.

def art_common::pid::Pid::CfgParam (   self,
  pname,
  fvalue 
)
/** @brief Configure one PID parameter
 *  @param node node handle for parameter server -- #NOTE: Removed by David
 *  @param pname base name for this parameter
 *  @returns parameter value, if defined
 *           (already set to default value).
 */
optname = self.name + '_' + pname
if (node.getParamCached(optname, fvalue)):

    param_value = dvalue         # convert double to float
    if (fvalue != param_value): # new value?

rospy.info("%s changed to %.3f", optname, param_value)
fvalue = param_value
return fvalue

Definition at line 139 of file pid.py.

def art_common::pid::Pid::Clear (   self  ) 
#/** @brief Clears the integral term if the setpoint
       has been reached */

Definition at line 119 of file pid.py.

def art_common::pid::Pid::Configure (   self  ) 

Definition at line 43 of file pid.py.

def art_common::pid::Pid::CopyHistory (   self,
  pid 
)
#/** @brief Copy the error history from another PID
# *  @param pid The PID controller that has the history to copy
# */

Definition at line 125 of file pid.py.

def art_common::pid::Pid::Update (   self,
  error,
  output 
)
@brief Update PID control output.

    @param error current output error
    @param output current output level
    @returns recommended change in output

Definition at line 62 of file pid.py.


Member Data Documentation

Definition at line 39 of file pid.py.

Definition at line 72 of file pid.py.

Definition at line 71 of file pid.py.

Definition at line 36 of file pid.py.

Definition at line 35 of file pid.py.

Definition at line 34 of file pid.py.

Definition at line 33 of file pid.py.

Definition at line 37 of file pid.py.

Definition at line 38 of file pid.py.

Definition at line 73 of file pid.py.


The documentation for this class was generated from the following file:
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art_common
Author(s): Austin Robot Technology
autogenerated on Fri Mar 1 14:12:15 2013