pid.h
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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


control_toolbox
Author(s): Melonee Wise, Sachin Chitta, John Hsu
autogenerated on Fri Jan 3 2014 11:41:22