pid Namespace Reference

Classes
class	PidConfig
class	PidConfigStatics
Functions
std::vector< double >	error (3, 0)
std::vector< double >	error_deriv (3, 0)
std::vector< double >	filtered_error (3, 0)
std::vector< double >	filtered_error_deriv (3, 0)
Variables
bool	angle_error = false
double	angle_wrap = 2.0*3.14159
double	c = 1.
double	control_effort
ros::Publisher	control_effort_pub
std_msgs::Float64	control_msg
double	cutoff_frequency = -1
ros::Duration	delta_t
double	derivative = 0
double	error_integral = 0
bool	first_reconfig = true
double	integral = 0
double	Kd = 0
double	Ki = 0
double	Kp = 0
double	lower_limit = -1000
double	max_loop_frequency = 1000
int	measurements_received = 0
double	min_loop_frequency = 1
std::string	node_name = "pid_node"
std::string	pid_enable_topic
bool	pid_enabled = true
const double	Pid_scale_hundred = 100.0
const double	Pid_scale_ten = 10.0
const double	Pid_scale_tenth = 0.1
const double	Pid_scale_unity = 1.0
double	plant_state
ros::Time	prev_time
double	proportional = 0
double	setpoint = 0
std::string	setpoint_topic
std_msgs::Float64	state_msg
double	tan_filt = 1.
std::string	topic_from_controller
std::string	topic_from_plant
double	upper_limit = 1000
double	windup_limit = 1000

---

Function Documentation

std::vector<double> pid::error	(	3	,
		0
	)

std::vector<double> pid::error_deriv	(	3	,
		0
	)

std::vector<double> pid::filtered_error	(	3	,
		0
	)

std::vector<double> pid::filtered_error_deriv	(	3	,
		0
	)

---

Variable Documentation

bool pid::angle_error = false

Definition at line 71 of file controller.h.

double pid::angle_wrap = 2.0*3.14159

Definition at line 72 of file controller.h.

double pid::c = 1.

Definition at line 80 of file controller.h.

double pid::control_effort

Definition at line 54 of file controller.h.

ros::Publisher pid::control_effort_pub

Definition at line 95 of file controller.h.

std_msgs::Float64 pid::control_msg

Definition at line 99 of file controller.h.

double pid::cutoff_frequency = -1

Definition at line 76 of file controller.h.

ros::Duration pid::delta_t

Definition at line 59 of file controller.h.

double pid::derivative = 0

Definition at line 65 of file controller.h.

double pid::error_integral = 0

Definition at line 62 of file controller.h.

bool pid::first_reconfig = true

Definition at line 60 of file controller.h.

double pid::integral = 0

Definition at line 64 of file controller.h.

double pid::Kd = 0

Definition at line 68 of file controller.h.

double pid::Ki = 0

Definition at line 68 of file controller.h.

double pid::Kp = 0

Definition at line 68 of file controller.h.

double pid::lower_limit = -1000

Definition at line 86 of file controller.h.

double pid::max_loop_frequency = 1000

Definition at line 102 of file controller.h.

int pid::measurements_received = 0

Definition at line 103 of file controller.h.

double pid::min_loop_frequency = 1

Definition at line 102 of file controller.h.

std::string pid::node_name = "pid_node"

Definition at line 97 of file controller.h.

std::string pid::pid_enable_topic

Definition at line 97 of file controller.h.

bool pid::pid_enabled = true

Definition at line 56 of file controller.h.

const double pid::Pid_scale_hundred = 100.0

Definition at line 546 of file PidConfig.h.

const double pid::Pid_scale_ten = 10.0

Definition at line 544 of file PidConfig.h.

const double pid::Pid_scale_tenth = 0.1

Definition at line 540 of file PidConfig.h.

const double pid::Pid_scale_unity = 1.0

Definition at line 542 of file PidConfig.h.

double pid::plant_state

Definition at line 53 of file controller.h.

ros::Time pid::prev_time

Definition at line 58 of file controller.h.

double pid::proportional = 0

Definition at line 63 of file controller.h.

double pid::setpoint = 0

Definition at line 55 of file controller.h.

std::string pid::setpoint_topic

Definition at line 97 of file controller.h.

std_msgs::Float64 pid::state_msg

Definition at line 99 of file controller.h.

double pid::tan_filt = 1.

Definition at line 83 of file controller.h.

std::string pid::topic_from_controller

Definition at line 97 of file controller.h.

std::string pid::topic_from_plant

Definition at line 97 of file controller.h.

double pid::upper_limit = 1000

Definition at line 86 of file controller.h.

double pid::windup_limit = 1000

Definition at line 89 of file controller.h.