dbw_mkz_twist_controller::PidControl Class Reference

#include <PidControl.h>

Public Member Functions
	PidControl ()
	PidControl (double kp, double ki, double kd, double min, double max)
void	resetIntegrator ()
void	revertIntegrator ()
void	setGains (double kp, double ki, double kd)
void	setParams (double kp, double ki, double kd, double min, double max)
void	setRange (double min, double max)
double	step (double error, double sample_time)

Private Attributes
double	int_val_
double	kd_
double	ki_
double	kp_
double	last_error_
double	last_int_val_
double	max_
double	min_

Detailed Description

Definition at line 42 of file PidControl.h.

Constructor & Destructor Documentation

dbw_mkz_twist_controller::PidControl::PidControl ( )

inline

Definition at line 44 of file PidControl.h.

dbw_mkz_twist_controller::PidControl::PidControl ( double  kp, double  ki, double  kd, double  min, double  max  )

inline

Definition at line 48 of file PidControl.h.

Member Function Documentation

void dbw_mkz_twist_controller::PidControl::resetIntegrator ( )

inline

Definition at line 56 of file PidControl.h.

void dbw_mkz_twist_controller::PidControl::revertIntegrator ( )

inline

Definition at line 57 of file PidControl.h.

void dbw_mkz_twist_controller::PidControl::setGains ( double  kp, double  ki, double  kd  )

inline

Definition at line 53 of file PidControl.h.

void dbw_mkz_twist_controller::PidControl::setParams ( double  kp, double  ki, double  kd, double  min, double  max  )

inline

Definition at line 55 of file PidControl.h.

void dbw_mkz_twist_controller::PidControl::setRange ( double  min, double  max  )

inline

Definition at line 54 of file PidControl.h.

double dbw_mkz_twist_controller::PidControl::step ( double  error, double  sample_time  )

inline

Definition at line 59 of file PidControl.h.

Member Data Documentation

double dbw_mkz_twist_controller::PidControl::int_val_

private

Definition at line 79 of file PidControl.h.

double dbw_mkz_twist_controller::PidControl::kd_

private

Definition at line 80 of file PidControl.h.

double dbw_mkz_twist_controller::PidControl::ki_

private

Definition at line 80 of file PidControl.h.

double dbw_mkz_twist_controller::PidControl::kp_

private

Definition at line 80 of file PidControl.h.

double dbw_mkz_twist_controller::PidControl::last_error_

private

Definition at line 78 of file PidControl.h.

double dbw_mkz_twist_controller::PidControl::last_int_val_

private

Definition at line 79 of file PidControl.h.

double dbw_mkz_twist_controller::PidControl::max_

private

Definition at line 81 of file PidControl.h.

double dbw_mkz_twist_controller::PidControl::min_

private

Definition at line 81 of file PidControl.h.

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

• PidControl.h