#include <pid_controller.h>
Public Member Functions | |
| Eigen::Vector3d | compute_linvel_effort (Eigen::Vector3d goal, Eigen::Vector3d current, ros::Time last_time) |
| Computes the linear velocity effort to apply to each axis. | |
| double | compute_yawrate_effort (double goal, double current, ros::Time last_time) |
| Computes the yaw rate effort to apply. | |
| PIDController () | |
| void | 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 | 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 () | |
Private Attributes | |
| control_toolbox::Pid | pid_linvel_x |
| control_toolbox::Pid | pid_linvel_y |
| control_toolbox::Pid | pid_linvel_z |
| control_toolbox::Pid | pid_yaw_rate |
Definition at line 24 of file pid_controller.h.