controller::PlainPid::Gains Struct Reference

Store gains in a struct to allow easier realtime buffer usage. More...

#include <sr_plain_pid.hpp>

Public Member Functions
	Gains (double p, double i, double d, double i_max, double i_min)
	Gains (double p, double i, double d, double i_max, double i_min, bool antiwindup)
	Gains ()

Public Attributes
bool	antiwindup_
double	d_gain_
double	i_gain_
double	i_max_
double	i_min_
double	p_gain_

Detailed Description

Store gains in a struct to allow easier realtime buffer usage.

Definition at line 116 of file sr_plain_pid.hpp.

Constructor & Destructor Documentation

controller::PlainPid::Gains::Gains ( double  p, double  i, double  d, double  i_max, double  i_min  )

inline

Definition at line 119 of file sr_plain_pid.hpp.

controller::PlainPid::Gains::Gains ( double  p, double  i, double  d, double  i_max, double  i_min, bool  antiwindup  )

inline

Definition at line 128 of file sr_plain_pid.hpp.

controller::PlainPid::Gains::Gains ( )

inline

Definition at line 137 of file sr_plain_pid.hpp.

Member Data Documentation

bool controller::PlainPid::Gains::antiwindup_

Antiwindup.

Definition at line 150 of file sr_plain_pid.hpp.

double controller::PlainPid::Gains::d_gain_

Derivative gain.

Definition at line 147 of file sr_plain_pid.hpp.

double controller::PlainPid::Gains::i_gain_

Integral gain.

Definition at line 146 of file sr_plain_pid.hpp.

double controller::PlainPid::Gains::i_max_

Maximum allowable integral term.

Definition at line 148 of file sr_plain_pid.hpp.

double controller::PlainPid::Gains::i_min_

Minimum allowable integral term.

Definition at line 149 of file sr_plain_pid.hpp.

double controller::PlainPid::Gains::p_gain_

Proportional gain.

Definition at line 145 of file sr_plain_pid.hpp.

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The documentation for this struct was generated from the following file:

• sr_plain_pid.hpp