grpc_core::PidController Class Reference

#include <pid_controller.h>

Classes
class	Args

Public Member Functions
double	error_integral () const
	Returns the current error integral (mostly for testing) More...
double	last_control_value () const
	Returns the last control value calculated. More...
	PidController (const Args &args)
void	Reset ()
double	Update (double error, double dt)

Private Attributes
const Args	args_
double	error_integral_ = 0.0
double	last_control_value_
double	last_dc_dt_ = 0.0
double	last_error_ = 0.0

Detailed Description

Definition at line 35 of file pid_controller.h.

Constructor & Destructor Documentation

PidController()

grpc_core::PidController::PidController ( const Args &  args )

explicit

Definition at line 27 of file pid_controller.cc.

Member Function Documentation

error_integral()

double grpc_core::PidController::error_integral ( ) const

inline

Returns the current error integral (mostly for testing)

Definition at line 104 of file pid_controller.h.

last_control_value()

double grpc_core::PidController::last_control_value ( ) const

inline

Returns the last control value calculated.

Definition at line 101 of file pid_controller.h.

Reset()

void grpc_core::PidController::Reset ( )

inline

Reset the controller internal state: useful when the environment has changed significantly

Definition at line 90 of file pid_controller.h.

Update()

double grpc_core::PidController::Update	(	double	error,
		double	dt
	)

Update the controller: given a current error estimate, and the time since the last update, returns a new control value

Definition at line 30 of file pid_controller.cc.

Member Data Documentation

args_

const Args grpc_core::PidController::args_

private

Definition at line 111 of file pid_controller.h.

error_integral_

double grpc_core::PidController::error_integral_ = 0.0

private

Definition at line 108 of file pid_controller.h.

last_control_value_

double grpc_core::PidController::last_control_value_

private

Definition at line 109 of file pid_controller.h.

last_dc_dt_

double grpc_core::PidController::last_dc_dt_ = 0.0

private

Definition at line 110 of file pid_controller.h.

last_error_

double grpc_core::PidController::last_error_ = 0.0

private

Definition at line 107 of file pid_controller.h.

---

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

• pid_controller.h
• pid_controller.cc