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00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 #ifndef CONTROL_TOOLBOX_PID_H 00035 #define CONTROL_TOOLBOX_PID_H 00036 00037 00038 #include <string> 00039 #include "ros/node_handle.h" 00040 00041 class TiXmlElement; 00042 00043 namespace control_toolbox { 00044 00045 /***************************************************/ 00104 /***************************************************/ 00105 00106 class Pid 00107 { 00108 public: 00109 00120 Pid(double P = 0.0, double I = 0.0, double D = 0.0, double I1 = 0.0, double I2 = -0.0); 00121 00125 ~Pid(); 00126 00133 double updatePid(double p_error, ros::Duration dt); 00134 00144 void initPid(double P, double I, double D, double I1, double I2); 00145 00151 bool initParam(const std::string& prefix); 00152 bool initXml(TiXmlElement *config); 00158 bool init(const ros::NodeHandle &n); 00159 00163 void reset(); 00164 00168 void setCurrentCmd(double cmd); 00169 00173 double getCurrentCmd(); 00174 00181 void getCurrentPIDErrors(double *pe, double *ie, double *de); 00182 00191 void setGains(double P, double I, double D, double i_max, double i_min); 00192 00201 void getGains(double &p, double &i, double &d, double &i_max, double &i_min); 00202 00211 double updatePid(double error, double error_dot, ros::Duration dt); 00212 00213 Pid &operator =(const Pid& p) 00214 { 00215 if (this == &p) 00216 return *this; 00217 00218 p_gain_ = p.p_gain_; 00219 i_gain_ = p.i_gain_; 00220 d_gain_ = p.d_gain_; 00221 i_max_ = p.i_max_; 00222 i_min_ = p.i_min_; 00223 00224 p_error_last_ = p_error_ = i_error_ = d_error_ = cmd_ = 0.0; 00225 return *this; 00226 } 00227 00228 private: 00229 double p_error_last_; 00230 double p_error_; 00231 double d_error_; 00232 double i_error_; 00233 double p_gain_; 00234 double i_gain_; 00235 double d_gain_; 00236 double i_max_; 00237 double i_min_; 00238 double cmd_; 00239 }; 00240 00241 } 00242 00243 #endif