Test_utils

Classes
class	pidcontroller::PIDController
Namespaces
namespace	pidcontroller
Functions
Eigen::Vector3d	pidcontroller::PIDController::compute_linvel_effort (Eigen::Vector3d goal, Eigen::Vector3d current, ros::Time last_time)
	Computes the linear velocity effort to apply to each axis.
double	pidcontroller::PIDController::compute_yawrate_effort (double goal, double current, ros::Time last_time)
	Computes the yaw rate effort to apply.
	pidcontroller::PIDController::PIDController ()
void	pidcontroller::PIDController::setup_linvel_pid (double p_gain, double i_gain, double d_gain, double i_max, double i_min, const ros::NodeHandle &node)
	Sets up the PID values for computation of the linear velocities effort.
void	pidcontroller::PIDController::setup_yawrate_pid (double p_gain, double i_gain, double d_gain, double i_max, double i_min, const ros::NodeHandle &node)
	Sets up the PID values for computation of the yaw rate effort.
	pidcontroller::PIDController::~PIDController ()
Variables
control_toolbox::Pid	pidcontroller::PIDController::pid_linvel_x
control_toolbox::Pid	pidcontroller::PIDController::pid_linvel_y
control_toolbox::Pid	pidcontroller::PIDController::pid_linvel_z
control_toolbox::Pid	pidcontroller::PIDController::pid_yaw_rate

---

Function Documentation

Eigen::Vector3d PIDController::compute_linvel_effort	(	Eigen::Vector3d	goal,
		Eigen::Vector3d	current,
		ros::Time	last_time
	)

Computes the linear velocity effort to apply to each axis.

Definition at line 55 of file pid_controller.cpp.

double PIDController::compute_yawrate_effort	(	double	goal,
		double	current,
		ros::Time	last_time
	)

Computes the yaw rate effort to apply.

Definition at line 63 of file pid_controller.cpp.

PIDController::PIDController

(

)

Definition at line 18 of file pid_controller.cpp.

void PIDController::setup_linvel_pid	(	double	p_gain,
		double	i_gain,
		double	d_gain,
		double	i_max,
		double	i_min,
		const ros::NodeHandle &	node
	)

Sets up the PID values for computation of the linear velocities effort.

Definition at line 21 of file pid_controller.cpp.

void PIDController::setup_yawrate_pid	(	double	p_gain,
		double	i_gain,
		double	d_gain,
		double	i_max,
		double	i_min,
		const ros::NodeHandle &	node
	)

Sets up the PID values for computation of the yaw rate effort.

Definition at line 40 of file pid_controller.cpp.

pidcontroller::PIDController::~PIDController

(

)

[inline]

Definition at line 28 of file pid_controller.h.

---

Variable Documentation

control_toolbox::Pid pidcontroller::PIDController::pid_linvel_x [private]

Definition at line 54 of file pid_controller.h.

control_toolbox::Pid pidcontroller::PIDController::pid_linvel_y [private]

Definition at line 55 of file pid_controller.h.

control_toolbox::Pid pidcontroller::PIDController::pid_linvel_z [private]

Definition at line 56 of file pid_controller.h.

control_toolbox::Pid pidcontroller::PIDController::pid_yaw_rate [private]

Definition at line 57 of file pid_controller.h.