control_toolbox::Pid::Gains Struct Reference

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

#include <pid.h>

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 124 of file pid.h.

Constructor & Destructor Documentation

Gains() [1/3]

control_toolbox::Pid::Gains::Gains ( double  p, double  i, double  d, double  i_max, double  i_min  )

inline

Definition at line 127 of file pid.h.

Gains() [2/3]

control_toolbox::Pid::Gains::Gains ( double  p, double  i, double  d, double  i_max, double  i_min, bool  antiwindup  )

inline

Definition at line 136 of file pid.h.

Gains() [3/3]

control_toolbox::Pid::Gains::Gains ( )

inline

Definition at line 145 of file pid.h.

Member Data Documentation

antiwindup_

bool control_toolbox::Pid::Gains::antiwindup_

Antiwindup.

Definition at line 158 of file pid.h.

d_gain_

double control_toolbox::Pid::Gains::d_gain_

Derivative gain.

Definition at line 155 of file pid.h.

i_gain_

double control_toolbox::Pid::Gains::i_gain_

Integral gain.

Definition at line 154 of file pid.h.

i_max_

double control_toolbox::Pid::Gains::i_max_

Maximum allowable integral term.

Definition at line 156 of file pid.h.

i_min_

double control_toolbox::Pid::Gains::i_min_

Minimum allowable integral term.

Definition at line 157 of file pid.h.

p_gain_

double control_toolbox::Pid::Gains::p_gain_

Proportional gain.

Definition at line 153 of file pid.h.

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

• pid.h