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.