sr_plain_pid.hpp

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#ifndef SR_MECHANISM_CONTROLLERS_SR_PLAIN_PID_HPP
#define SR_MECHANISM_CONTROLLERS_SR_PLAIN_PID_HPP


#include <string>
#include <ros/ros.h>
#include <control_msgs/PidState.h>

class TiXmlElement;

namespace controller
{

/***************************************************/
/***************************************************/

class PlainPid
{
public:
  struct Gains
  {
    // Optional constructor for passing in values without antiwindup
    Gains(double p, double i, double d, double i_max, double i_min)
      : p_gain_(p),
        i_gain_(i),
        d_gain_(d),
        i_max_(i_max),
        i_min_(i_min),
        antiwindup_(false)
    {}
    // Optional constructor for passing in values
    Gains(double p, double i, double d, double i_max, double i_min, bool antiwindup)
      : p_gain_(p),
        i_gain_(i),
        d_gain_(d),
        i_max_(i_max),
        i_min_(i_min),
        antiwindup_(antiwindup)
    {}
    // Default constructor
    Gains()
      : p_gain_(0.0),
        i_gain_(0.0),
        d_gain_(0.0),
        i_max_(0.0),
        i_min_(0.0),
        antiwindup_(false)
    {}
    double p_gain_;   
    double i_gain_;   
    double d_gain_;   
    double i_max_;    
    double i_min_;    
    bool antiwindup_; 
  };

  PlainPid(double p = 0.0,
           double i = 0.0,
           double d = 0.0,
           double i_max = 0.0,
           double i_min = -0.0,
           bool antiwindup = false);

  ~PlainPid();

  void initPid(double p, double i, double d, double i_max, double i_min, bool antiwindup = false);

  bool initParam(const std::string& prefix, const bool quiet = false);

  bool init(const ros::NodeHandle &n, const bool quiet = false);

  bool initXml(TiXmlElement *config);

  void reset();

  void getGains(double &p, double &i, double &d, double &i_max, double &i_min);
  void getGains(double &p, double &i, double &d, double &i_max, double &i_min, bool &antiwindup);

  Gains pid_gains;

  void setGains(double p, double i, double d, double i_max, double i_min, bool antiwindup = false);

//  void setGains(const Gains &gains);

  double computeCommand(double error, ros::Duration dt);

  double computeCommand(double error, double error_dot, ros::Duration dt);

  ROS_DEPRECATED double updatePid(double p_error, ros::Duration dt);

  ROS_DEPRECATED double updatePid(double error, double error_dot, ros::Duration dt);

  void setCurrentCmd(double cmd);

  double getCurrentCmd();

  void getCurrentPIDErrors(double *pe, double *ie, double *de);


  void printValues();

private:
  double p_error_last_;  
  double p_error_;  
  double i_error_;  
  double d_error_;  
  double cmd_;     
};
}  // namespace controller
#endif