Program Listing for File pid.h
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* Copyright (c) 2013, Unbounded Robotics Inc.
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#ifndef ROBOT_CONTROLLERS__PID_H_
#define ROBOT_CONTROLLERS__PID_H_
#include <string>
#include "rclcpp/rclcpp.hpp"
namespace robot_controllers
{
class PID
{
public:
PID(double p, double i, double d, double i_max, double i_min);
PID();
bool init(const std::string& name,
rclcpp::Node::SharedPtr node);
void reset();
double update(double error, double dt);
double update(double error, double error_dot, double dt);
protected:
bool checkGains();
double p_gain_;
double i_gain_;
double d_gain_;
double i_max_, i_min_;
double i_term_;
double error_last_;
rclcpp::Node::SharedPtr node_;
};
} // namespace robot_controllers
#endif // ROBOT_CONTROLLERS__PID_H_