art_common::pid::Pid Class Reference

List of all members.

Public Member Functions

def __init__
def CfgParam
def Clear
def Configure
def CopyHistory
def Update

Public Attributes


Detailed Description

Definition at line 25 of file

Member Function Documentation

def art_common::pid::Pid::__init__ (   self,
  kp = 1.0,
  ki = 0.0,
  kd = 0.0,
  omax = FLT_MAX,
  omin = -FLT_MAX,
  C = 0.0 
@brief Constructor
    @param ctlname control output name for log messages

Definition at line 27 of file

def art_common::pid::Pid::CfgParam (   self,
/** @brief Configure one PID parameter
 *  @param node node handle for parameter server -- #NOTE: Removed by David
 *  @param pname base name for this parameter
 *  @returns parameter value, if defined
 *           (already set to default value).
optname = + '_' + pname
if (node.getParamCached(optname, fvalue)):

    param_value = dvalue         # convert double to float
    if (fvalue != param_value): # new value?"%s changed to %.3f", optname, param_value)
fvalue = param_value
return fvalue

Definition at line 139 of file

def art_common::pid::Pid::Clear (   self  ) 
#/** @brief Clears the integral term if the setpoint
       has been reached */

Definition at line 119 of file

def art_common::pid::Pid::Configure (   self  ) 

Definition at line 43 of file

def art_common::pid::Pid::CopyHistory (   self,
#/** @brief Copy the error history from another PID
# *  @param pid The PID controller that has the history to copy
# */

Definition at line 125 of file

def art_common::pid::Pid::Update (   self,
@brief Update PID control output.

    @param error current output error
    @param output current output level
    @returns recommended change in output

Definition at line 62 of file

Member Data Documentation

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The documentation for this class was generated from the following file:
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Author(s): Austin Robot Technology
autogenerated on Fri Jan 11 10:02:52 2013