pid_ns::PidObject Class Reference

#include <controller.h>

List of all members.

Public Member Functions
	PidObject ()
	PidObject ()
Private Member Functions
void	doCalcs ()
void	doCalcs ()
void	getParams (double in, double &value, double &scale)
void	getParams (double in, double &value, double &scale)
void	pidEnableCallback (const std_msgs::Bool &pid_enable_msg)
void	pidEnableCallback (const std_msgs::Bool &pid_enable_msg)
void	plantStateCallback (const std_msgs::Float64 &state_msg)
void	plantStateCallback (const std_msgs::Float64 &state_msg)
void	printParameters ()
void	printParameters ()
void	reconfigureCallback (pid::PidConfig &config, uint32_t level)
void	reconfigureCallback (pid::PidConfig &config, uint32_t level)
void	setpointCallback (const std_msgs::Float64 &setpoint_msg)
void	setpointCallback (const std_msgs::Float64 &setpoint_msg)
bool	validateParameters ()
bool	validateParameters ()
Private Attributes
bool	angle_error_ = false
double	angle_wrap_ = 2.0 * 3.14159
double	c_ = 1.
double	control_effort_ = 0
ros::Publisher	control_effort_pub_
std_msgs::Float64	control_msg_
double	cutoff_frequency_ = -1
ros::Duration	delta_t_
double	derivative_ = 0
std::vector< double >	error_
std::vector< double >	error_deriv_
double	error_integral_ = 0
std::vector< double >	filtered_error_
std::vector< double >	filtered_error_deriv_
bool	first_reconfig_ = true
double	integral_ = 0
double	Kd_ = 0
double	Ki_ = 0
double	Kp_ = 0
double	lower_limit_ = -1000
double	max_loop_frequency_ = 1000
int	measurements_received_ = 0
double	min_loop_frequency_ = 1
bool	new_state_or_setpt_ = false
ros::Publisher	pid_debug_pub_
std::string	pid_debug_pub_name_
std::string	pid_enable_topic_
bool	pid_enabled_ = true
double	plant_state_
ros::Time	prev_time_
double	proportional_ = 0
double	setpoint_ = 0
std::string	setpoint_topic_
std_msgs::Float64	state_msg_
double	tan_filt_ = 1.
std::string	topic_from_controller_
std::string	topic_from_plant_
double	upper_limit_ = 1000
double	windup_limit_ = 1000

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Detailed Description

Definition at line 41 of file controller.h.

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Constructor & Destructor Documentation

PidObject::PidObject

(

)

Definition at line 6 of file pid.cpp.

pid_ns::PidObject::PidObject

(

)

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Member Function Documentation

void PidObject::doCalcs

(

)

[private]

Definition at line 174 of file pid.cpp.

void pid_ns::PidObject::doCalcs

(

)

[private]

void PidObject::getParams	(	double	in,
		double &	value,
		double &	scale
	)		[private]

Definition at line 101 of file pid.cpp.

void pid_ns::PidObject::getParams	(	double	in,
		double &	value,
		double &	scale
	)		[private]

void PidObject::pidEnableCallback

(

const std_msgs::Bool &

pid_enable_msg

)

[private]

Definition at line 96 of file pid.cpp.

void pid_ns::PidObject::pidEnableCallback

(

const std_msgs::Bool &

pid_enable_msg

)

[private]

void PidObject::plantStateCallback

(

const std_msgs::Float64 &

state_msg

)

[private]

Definition at line 89 of file pid.cpp.

void pid_ns::PidObject::plantStateCallback

(

const std_msgs::Float64 &

state_msg

)

[private]

void PidObject::printParameters

(

)

[private]

Definition at line 138 of file pid.cpp.

void pid_ns::PidObject::printParameters

(

)

[private]

void PidObject::reconfigureCallback	(	pid::PidConfig &	config,
		uint32_t	level
	)		[private]

Definition at line 157 of file pid.cpp.

void pid_ns::PidObject::reconfigureCallback	(	pid::PidConfig &	config,
		uint32_t	level
	)		[private]

void PidObject::setpointCallback

(

const std_msgs::Float64 &

setpoint_msg

)

[private]

Definition at line 82 of file pid.cpp.

void pid_ns::PidObject::setpointCallback

(

const std_msgs::Float64 &

setpoint_msg

)

[private]

bool PidObject::validateParameters

(

)

[private]

Definition at line 126 of file pid.cpp.

bool pid_ns::PidObject::validateParameters

(

)

[private]

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Member Data Documentation

bool pid_ns::PidObject::angle_error_ = false [private]

Definition at line 76 of file controller.h.

double pid_ns::PidObject::angle_wrap_ = 2.0 * 3.14159 [private]

Definition at line 77 of file controller.h.

double pid_ns::PidObject::c_ = 1. [private]

Definition at line 86 of file controller.h.

double pid_ns::PidObject::control_effort_ = 0 [private]

Definition at line 58 of file controller.h.

ros::Publisher pid_ns::PidObject::control_effort_pub_ [private]

Definition at line 101 of file controller.h.

std_msgs::Float64 pid_ns::PidObject::control_msg_ [private]

Definition at line 104 of file controller.h.

double pid_ns::PidObject::cutoff_frequency_ = -1 [private]

Definition at line 81 of file controller.h.

ros::Duration pid_ns::PidObject::delta_t_ [private]

Definition at line 64 of file controller.h.

double pid_ns::PidObject::derivative_ = 0 [private]

Definition at line 70 of file controller.h.

std::vector< double > pid_ns::PidObject::error_ [private]

Definition at line 98 of file controller.h.

std::vector< double > pid_ns::PidObject::error_deriv_ [private]

Definition at line 98 of file controller.h.

double pid_ns::PidObject::error_integral_ = 0 [private]

Definition at line 67 of file controller.h.

std::vector< double > pid_ns::PidObject::filtered_error_ [private]

Definition at line 98 of file controller.h.

std::vector< double > pid_ns::PidObject::filtered_error_deriv_ [private]

Definition at line 98 of file controller.h.

bool pid_ns::PidObject::first_reconfig_ = true [private]

Definition at line 65 of file controller.h.

double pid_ns::PidObject::integral_ = 0 [private]

Definition at line 69 of file controller.h.

double pid_ns::PidObject::Kd_ = 0 [private]

Definition at line 73 of file controller.h.

double pid_ns::PidObject::Ki_ = 0 [private]

Definition at line 73 of file controller.h.

double pid_ns::PidObject::Kp_ = 0 [private]

Definition at line 73 of file controller.h.

double pid_ns::PidObject::lower_limit_ = -1000 [private]

Definition at line 92 of file controller.h.

double pid_ns::PidObject::max_loop_frequency_ = 1000 [private]

Definition at line 107 of file controller.h.

int pid_ns::PidObject::measurements_received_ = 0 [private]

Definition at line 108 of file controller.h.

double pid_ns::PidObject::min_loop_frequency_ = 1 [private]

Definition at line 107 of file controller.h.

bool pid_ns::PidObject::new_state_or_setpt_ = false [private]

Definition at line 61 of file controller.h.

ros::Publisher pid_ns::PidObject::pid_debug_pub_ [private]

Definition at line 115 of file pid.h.

std::string pid_ns::PidObject::pid_debug_pub_name_ [private]

Definition at line 118 of file pid.h.

std::string pid_ns::PidObject::pid_enable_topic_ [private]

Definition at line 102 of file controller.h.

bool pid_ns::PidObject::pid_enabled_ = true [private]

Definition at line 60 of file controller.h.

double pid_ns::PidObject::plant_state_ [private]

Definition at line 57 of file controller.h.

ros::Time pid_ns::PidObject::prev_time_ [private]

Definition at line 63 of file controller.h.

double pid_ns::PidObject::proportional_ = 0 [private]

Definition at line 68 of file controller.h.

double pid_ns::PidObject::setpoint_ = 0 [private]

Definition at line 59 of file controller.h.

std::string pid_ns::PidObject::setpoint_topic_ [private]

Definition at line 102 of file controller.h.

std_msgs::Float64 pid_ns::PidObject::state_msg_ [private]

Definition at line 104 of file controller.h.

double pid_ns::PidObject::tan_filt_ = 1. [private]

Definition at line 89 of file controller.h.

std::string pid_ns::PidObject::topic_from_controller_ [private]

Definition at line 102 of file controller.h.

std::string pid_ns::PidObject::topic_from_plant_ [private]

Definition at line 102 of file controller.h.

double pid_ns::PidObject::upper_limit_ = 1000 [private]

Definition at line 92 of file controller.h.

double pid_ns::PidObject::windup_limit_ = 1000 [private]

Definition at line 95 of file controller.h.

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

• controller.h
• pid.h
• pid.cpp