Pid Class Reference

PID (Proportional, Integral, Derivative) control output. More...

#include <pid2.h>

List of all members.

Public Member Functions
void	Clear ()
	Clears the integral term if the setpoint has been reached.
virtual void	Configure (const ros::NodeHandle &node)
	Configure PID parameters.
virtual void	Configure (float kp, float ki, float kd, float omax, float omin, float C)
	Configure all PID parameters.
virtual void	Configure (float kp, float ki, float kd)
	Configure PID gains.
void	CopyHistory (const Pid *pid)
	Copy the error history from another PID.
	Pid (const char *ctlname, float kp, float ki, float kd, float omax=FLT_MAX, float omin=-FLT_MAX, float C=0.0)
	Pid (const char *ctlname)
	Constructor.
float	Update (float error, float output)
	Update PID control output.
virtual	~Pid ()
Protected Member Functions
void	CfgParam (const ros::NodeHandle &node, const char *pname, float *fvalue)
	Configure one PID parameter.
Protected Attributes
float	C
float	dstate
float	istate
float	kd
float	ki
float	kp
std::string	name
float	omax
float	omin
bool	starting

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Detailed Description

PID (Proportional, Integral, Derivative) control output.

Definition at line 23 of file pid2.h.

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Constructor & Destructor Documentation

Pid::Pid

(

const char *

ctlname

)

[inline]

Constructor.

Parameters:

ctlname

control output name for log messages

Definition at line 30 of file pid2.h.

Pid::Pid	(	const char *	ctlname,
		float	kp,
		float	ki,
		float	kd,
		float	omax = FLT_MAX,
		float	omin = -FLT_MAX,
		float	C = 0.0
	)			[inline]

Definition at line 37 of file pid2.h.

virtual Pid::~Pid

(

)

[inline, virtual]

Definition at line 45 of file pid2.h.

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Member Function Documentation

void Pid::CfgParam	(	const ros::NodeHandle &	node,
		const char *	pname,
		float *	fvalue
	)			[inline, protected]

Configure one PID parameter.

Parameters:

	node	node handle for parameter server
	pname	base name for this parameter
	fvalue	place to store parameter value, if defined (already set to default value).

Definition at line 181 of file pid2.h.

void Pid::Clear

(

)

[inline]

Clears the integral term if the setpoint has been reached.

Definition at line 139 of file pid2.h.

virtual void Pid::Configure

(

const ros::NodeHandle &

node

)

[inline, virtual]

Configure PID parameters.

Definition at line 68 of file pid2.h.

virtual void Pid::Configure	(	float	kp,
		float	ki,
		float	kd,
		float	omax,
		float	omin,
		float	C
	)			[inline, virtual]

Configure all PID parameters.

Definition at line 56 of file pid2.h.

virtual void Pid::Configure	(	float	kp,
		float	ki,
		float	kd
	)			[inline, virtual]

Configure PID gains.

Definition at line 48 of file pid2.h.

void Pid::CopyHistory

(

const Pid *

pid

)

[inline]

Copy the error history from another PID.

Parameters:

pid

The PID controller that has the history to copy

Definition at line 148 of file pid2.h.

float Pid::Update	(	float	error,
		float	output
	)			[inline]

Update PID control output.

Parameters:

	error	current output error
	output	current output level

Returns:

recommended change in output

Definition at line 88 of file pid2.h.

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Member Data Documentation

float Pid::C [protected]

tracker to adapt integral

Definition at line 170 of file pid2.h.

float Pid::dstate [protected]

previous output level

Definition at line 163 of file pid2.h.

float Pid::istate [protected]

integrator state

Definition at line 164 of file pid2.h.

float Pid::kd [protected]

derivative gain

Definition at line 167 of file pid2.h.

float Pid::ki [protected]

integral gain

Definition at line 166 of file pid2.h.

float Pid::kp [protected]

proportional gain

Definition at line 165 of file pid2.h.

std::string Pid::name [protected]

control output name

Definition at line 160 of file pid2.h.

float Pid::omax [protected]

output maximum limit

Definition at line 168 of file pid2.h.

float Pid::omin [protected]

output minimum limit

Definition at line 169 of file pid2.h.

bool Pid::starting [protected]

Definition at line 172 of file pid2.h.

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The documentation for this class was generated from the following file:

• pid2.h