uuv_control_interfaces.dp_pid_controller_base.DPPIDControllerBase Class Reference

Inheritance diagram for uuv_control_interfaces.dp_pid_controller_base.DPPIDControllerBase:

Public Member Functions
def	__init__ (self, args)
def	get_pid_params_callback (self, request)
def	set_pid_params_callback (self, request)
def	update_pid (self)

Private Member Functions
def	_reset_controller (self)

Private Attributes
	_error_pose
	_int
	_Kd
	_Ki
	_Kp

Detailed Description

Abstract class for PID-based controllers. The base 
class method `update_controller` must be overridden 
in other for a controller to work.

Definition at line 21 of file dp_pid_controller_base.py.

Constructor & Destructor Documentation

def uuv_control_interfaces.dp_pid_controller_base.DPPIDControllerBase.__init__	(		self,
			args
	)

Definition at line 27 of file dp_pid_controller_base.py.

Member Function Documentation

def uuv_control_interfaces.dp_pid_controller_base.DPPIDControllerBase._reset_controller (   self )

private

Reset reference and and error vectors.

Definition at line 83 of file dp_pid_controller_base.py.

def uuv_control_interfaces.dp_pid_controller_base.DPPIDControllerBase.get_pid_params_callback	(		self,
			request
	)

Service callback function to return 
the PID's parameters

Definition at line 103 of file dp_pid_controller_base.py.

def uuv_control_interfaces.dp_pid_controller_base.DPPIDControllerBase.set_pid_params_callback	(		self,
			request
	)

Service callback function to set the 
PID's parameters

Definition at line 89 of file dp_pid_controller_base.py.

def uuv_control_interfaces.dp_pid_controller_base.DPPIDControllerBase.update_pid

(

self

)

Return the control signal computed from the PID 
algorithm. To implement a PID-based controller that
inherits this class, call this function in the
derived class' `update` method to obtain the control
vector.

> *Returns*

`numpy.array`: Control signal

Definition at line 112 of file dp_pid_controller_base.py.

Member Data Documentation

uuv_control_interfaces.dp_pid_controller_base.DPPIDControllerBase._error_pose

private

Definition at line 40 of file dp_pid_controller_base.py.

uuv_control_interfaces.dp_pid_controller_base.DPPIDControllerBase._int

private

Definition at line 38 of file dp_pid_controller_base.py.

uuv_control_interfaces.dp_pid_controller_base.DPPIDControllerBase._Kd

private

Definition at line 34 of file dp_pid_controller_base.py.

uuv_control_interfaces.dp_pid_controller_base.DPPIDControllerBase._Ki

private

Definition at line 36 of file dp_pid_controller_base.py.

uuv_control_interfaces.dp_pid_controller_base.DPPIDControllerBase._Kp

private

Definition at line 32 of file dp_pid_controller_base.py.

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

• dp_pid_controller_base.py