#include <pid.h>

Inheritance diagram for diffbot_base::PID:

Public Member Functions
double	clamp (const double &value, const double &lower_limit, const double &upper_limit)
	Clam given value to upper and lower limits. More...

void	dynamicReconfigCallback (diffbot_base::ParametersConfig &config, uint32_t)
	Update the PID parameters from dynamics reconfigure. More...

double	getError () const
	Get the current error. More...

void	getParameters (double &f, double &p, double &i, double &d, double &i_max, double &i_min)
	Get the FPID parameters. More...

void	getParameters (double &f, double &p, double &i, double &d, double &i_max, double &i_min, bool &antiwindup)
	Get the FPID parameters. More...

void	init (ros::NodeHandle &nh, double f, double p, double i, double d, double i_max, double i_min, bool antiwindup, double out_max, double out_min)
	Initialize the. More...

void	initDynamicReconfig (ros::NodeHandle &node)
	Start the dynamic reconfigure node and load the default values. More...

double	operator() (const double &measured_value, const double &setpoint, const ros::Duration &dt)
	Compute PID output value from error using process value, set point and time period. More...

	PID (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, double out_max=0.0, double out_min=0.0)
	Construct a new PID object. More...

void	setOutputLimits (double out_min, double out_max)
	Set the Output Limits of the PID controller. More...

void	setParameters (double f, double p, double i, double d, double i_max, double i_min, bool antiwindup=false)
	Set the Parameters using the Gains object of control_toolbox::Pid. More...

void	updateDynamicReconfig ()
	Set Dynamic Reconfigure's gains to PID's values. More...

void	updateDynamicReconfig (diffbot_base::ParametersConfig config)

void	updateDynamicReconfig (Gains gains_config)

Public Member Functions inherited from control_toolbox::Pid
double	computeCommand (double error, double error_dot, ros::Duration dt)

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

void	dynamicReconfigCallback (control_toolbox::ParametersConfig &config, uint32_t)

double	getCurrentCmd ()

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

Gains	getGains ()

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)

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

void	initDynamicReconfig (ros::NodeHandle &node)

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

void	initPid (double p, double i, double d, double i_max, double i_min, bool antiwindup, const ros::NodeHandle &)

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

void	initPid (double p, double i, double d, double i_max, double i_min, const ros::NodeHandle &)

bool	initXml (TiXmlElement *config)

Pid &	operator= (const Pid &source)

	Pid (const Pid &source)

	Pid (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)

void	printValues ()

void	reset ()

void	reset (double d_error, double i_error)

void	setCurrentCmd (double cmd)

void	setGains (const Gains &gains)

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

void	updateDynamicReconfig ()

void	updateDynamicReconfig (control_toolbox::ParametersConfig config)

void	updateDynamicReconfig (Gains gains_config)

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

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

	~Pid ()

Private Types
typedef dynamic_reconfigure::Server< diffbot_base::ParametersConfig >	DynamicReconfigServer

Private Attributes
bool	dynamic_reconfig_initialized_

double	error_

double	f_

double	out_max_

double	out_min_

DynamicReconfigServer::CallbackType	param_reconfig_callback_

boost::recursive_mutex	param_reconfig_mutex_

boost::shared_ptr< DynamicReconfigServer >	param_reconfig_server_

Detailed Description

Definition at line 11 of file include/diffbot_base/pid.h.

Member Typedef Documentation

◆ DynamicReconfigServer

typedef dynamic_reconfigure::Server<diffbot_base::ParametersConfig> diffbot_base::PID::DynamicReconfigServer

private

Definition at line 142 of file include/diffbot_base/pid.h.

Constructor & Destructor Documentation

◆ PID()

diffbot_base::PID::PID	(	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`,
		double	out_max = `0.0`,
		double	out_min = `0.0`
	)

Construct a new PID object.

Parameters

p	The proportional gain.
i	The integral gain.
d	The derivative gain.
i_max	The max integral windup.
i_min	The min integral windup.
antiwindup	Enable or disable antiwindup of the integrator.
out_min	The min computed output.
out_max	The max computed output.

Definition at line 6 of file src/pid.cpp.

Member Function Documentation

◆ clamp()

double diffbot_base::PID::clamp	(	const double &	value,
		const double &	lower_limit,
		const double &	upper_limit
	)

Clam given value to upper and lower limits.

Parameters

value	Input value that's possibly clamped.
lower_limit	Lower limit which the value must not exceed.
upper_limit	Upper limit which the value must not exceed.

Returns: double Clamped value to range in between [lower_limit, upper_limit].

Definition at line 95 of file src/pid.cpp.

◆ dynamicReconfigCallback()

void diffbot_base::PID::dynamicReconfigCallback	(	diffbot_base::ParametersConfig &	config,
		uint32_t
	)

Update the PID parameters from dynamics reconfigure.

Definition at line 157 of file src/pid.cpp.

◆ getError()

double diffbot_base::PID::getError ( ) const

inline

Get the current error.

Returns: double The current error computed from the measured and target value.

Definition at line 114 of file include/diffbot_base/pid.h.

◆ getParameters() [1/2]

void diffbot_base::PID::getParameters	(	double &	f,
		double &	p,
		double &	i,
		double &	d,
		double &	i_max,
		double &	i_min
	)

Get the FPID parameters.

Parameters

f	The feed forward gain.
p	The proportional gain.
i	The integral gain.
d	The derivative gain.
i_max	The max integral windup.
i_min	The min integral windup.

Definition at line 65 of file src/pid.cpp.

◆ getParameters() [2/2]

void diffbot_base::PID::getParameters	(	double &	f,
		double &	p,
		double &	i,
		double &	d,
		double &	i_max,
		double &	i_min,
		bool &	antiwindup
	)

Get the FPID parameters.

Parameters

f	The feed forward gain.
p	The proportional gain.
i	The integral gain.
d	The derivative gain.
i_max	The max integral windup.
i_min	The min integral windup.
antiwindup	Enable or disable antiwindup check.

Definition at line 71 of file src/pid.cpp.

◆ init()

void diffbot_base::PID::init	(	ros::NodeHandle &	nh,
		double	f,
		double	p,
		double	i,
		double	d,
		double	i_max,
		double	i_min,
		bool	antiwindup,
		double	out_max,
		double	out_min
	)

Initialize the.

Parameters

nh	ROS node handle with possible namespace describing the purpose of the PID controller.
f	The feed forward gain.
p	The proportional gain.
i	The integral gain.
d	The derivative gain.
i_max	The max integral windup.
i_min	The min integral windup.
antiwindup
out_min	The min computed output.
out_max	The max computed output.

Definition at line 18 of file src/pid.cpp.

◆ initDynamicReconfig()

void diffbot_base::PID::initDynamicReconfig ( ros::NodeHandle & node )

Start the dynamic reconfigure node and load the default values.

Parameters

node	- a node handle where dynamic reconfigure services will be published

Definition at line 111 of file src/pid.cpp.

◆ operator()()

double diffbot_base::PID::operator()	(	const double &	measured_value,
		const double &	setpoint,
		const ros::Duration &	dt
	)

Compute PID output value from error using process value, set point and time period.

Parameters

measured_value	The process value measured by sensors.
setpoint	The desired target value.
dt	The delta time or period since the last call.

Returns: double Computed PID output value.

Definition at line 35 of file src/pid.cpp.

◆ setOutputLimits()

void diffbot_base::PID::setOutputLimits	(	double	out_min,
		double	out_max
	)

Set the Output Limits of the PID controller.

Parameters

out_min
out_max

Definition at line 87 of file src/pid.cpp.

◆ setParameters()

void diffbot_base::PID::setParameters	(	double	f,
		double	p,
		double	i,
		double	d,
		double	i_max,
		double	i_min,
		bool	antiwindup = `false`
	)

Set the Parameters using the Gains object of control_toolbox::Pid.

Parameters

f	The feed forward gain.
p	The proportional gain.
i	The integral gain.
d	The derivative gain.
i_max	The max integral windup.
i_min	The min integral windup.
antiwindup	Enable or disable antiwindup check.

Definition at line 78 of file src/pid.cpp.

◆ updateDynamicReconfig() [1/3]

void diffbot_base::PID::updateDynamicReconfig ( )

Set Dynamic Reconfigure's gains to PID's values.

Definition at line 129 of file src/pid.cpp.

◆ updateDynamicReconfig() [2/3]

void diffbot_base::PID::updateDynamicReconfig ( diffbot_base::ParametersConfig config )

Definition at line 145 of file src/pid.cpp.

◆ updateDynamicReconfig() [3/3]

void diffbot_base::PID::updateDynamicReconfig ( Gains gains_config )

Member Data Documentation

◆ dynamic_reconfig_initialized_

bool diffbot_base::PID::dynamic_reconfig_initialized_

private

Definition at line 141 of file include/diffbot_base/pid.h.

◆ error_

double diffbot_base::PID::error_

private

Definition at line 136 of file include/diffbot_base/pid.h.

◆ f_

double diffbot_base::PID::f_

private

Definition at line 135 of file include/diffbot_base/pid.h.

◆ out_max_

double diffbot_base::PID::out_max_

private

Definition at line 138 of file include/diffbot_base/pid.h.

◆ out_min_

double diffbot_base::PID::out_min_

private

Definition at line 137 of file include/diffbot_base/pid.h.

◆ param_reconfig_callback_

DynamicReconfigServer::CallbackType diffbot_base::PID::param_reconfig_callback_

private

Definition at line 144 of file include/diffbot_base/pid.h.

◆ param_reconfig_mutex_

boost::recursive_mutex diffbot_base::PID::param_reconfig_mutex_

private

Definition at line 146 of file include/diffbot_base/pid.h.

◆ param_reconfig_server_

boost::shared_ptr<DynamicReconfigServer> diffbot_base::PID::param_reconfig_server_

private

Definition at line 143 of file include/diffbot_base/pid.h.

The documentation for this class was generated from the following files:

Public Member Functions

Private Types

Private Attributes

Detailed Description

Member Typedef Documentation

◆ DynamicReconfigServer

Constructor & Destructor Documentation

◆ PID()

Member Function Documentation

◆ clamp()

◆ dynamicReconfigCallback()

◆ getError()

◆ getParameters() [1/2]

◆ getParameters() [2/2]

◆ init()

◆ initDynamicReconfig()

◆ operator()()

◆ setOutputLimits()

◆ setParameters()

◆ updateDynamicReconfig() [1/3]

◆ updateDynamicReconfig() [2/3]

◆ updateDynamicReconfig() [3/3]

Member Data Documentation

◆ dynamic_reconfig_initialized_

◆ error_

◆ f_

◆ out_max_

◆ out_min_

◆ param_reconfig_callback_

◆ param_reconfig_mutex_

◆ param_reconfig_server_