controller.h File Reference

Simple PID controller with dynamic reconfigure. More...

#include <dynamic_reconfigure/server.h>
#include <iostream>
#include "math.h"
#include <pid/PidConfig.h>
#include "ros/ros.h"
#include <ros/time.h>
#include <std_msgs/Float64.h>
#include <std_msgs/Bool.h>
#include <stdio.h>
#include <string>

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Namespaces
namespace	pid
Functions
std::vector< double >	pid::error (3, 0)
std::vector< double >	pid::error_deriv (3, 0)
std::vector< double >	pid::filtered_error (3, 0)
std::vector< double >	pid::filtered_error_deriv (3, 0)
Variables
bool	pid::angle_error = false
double	pid::angle_wrap = 2.0*3.14159
double	pid::c = 1.
double	pid::control_effort
ros::Publisher	pid::control_effort_pub
std_msgs::Float64	pid::control_msg
double	pid::cutoff_frequency = -1
ros::Duration	pid::delta_t
double	pid::derivative = 0
double	pid::error_integral = 0
bool	pid::first_reconfig = true
double	pid::integral = 0
double	pid::Kd = 0
double	pid::Ki = 0
double	pid::Kp = 0
double	pid::lower_limit = -1000
double	pid::max_loop_frequency = 1000
int	pid::measurements_received = 0
double	pid::min_loop_frequency = 1
std::string	pid::node_name = "pid_node"
std::string	pid::pid_enable_topic
bool	pid::pid_enabled = true
double	pid::plant_state
ros::Time	pid::prev_time
double	pid::proportional = 0
double	pid::setpoint = 0
std::string	pid::setpoint_topic
std_msgs::Float64	pid::state_msg
double	pid::tan_filt = 1.
std::string	pid::topic_from_controller
std::string	pid::topic_from_plant
double	pid::upper_limit = 1000
double	pid::windup_limit = 1000

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Detailed Description

Simple PID controller with dynamic reconfigure.

Author:

Andy Zelenak

Date:

March 8, 2015

License (BSD-3)

Copyright (c) 2015, Andy Zelenak
All rights reserved.

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

• Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
• Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
• Neither the name of Willow Garage, Inc. nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Definition in file controller.h.