Class PidController

Defined in File pid_controller.hpp

Inheritance Relationships

Base Type

public controller_interface::ChainableControllerInterface

Class Documentation

class PidController : public controller_interface::ChainableControllerInterface

Public Types

using ControllerReferenceMsg = control_msgs::msg::MultiDOFCommand

using ControllerMeasuredStateMsg = control_msgs::msg::MultiDOFCommand

using ControllerModeSrvType = std_srvs::srv::SetBool

using ControllerStateMsg = control_msgs::msg::MultiDOFStateStamped

Public Functions

PID_CONTROLLER__VISIBILITY_PUBLIC PidController()

PID_CONTROLLER__VISIBILITY_PUBLIC controller_interface::CallbackReturn on_init () override

PID_CONTROLLER__VISIBILITY_PUBLIC controller_interface::InterfaceConfiguration command_interface_configuration () const override

PID_CONTROLLER__VISIBILITY_PUBLIC controller_interface::InterfaceConfiguration state_interface_configuration () const override

PID_CONTROLLER__VISIBILITY_PUBLIC controller_interface::CallbackReturn on_cleanup (const rclcpp_lifecycle::State &previous_state) override

PID_CONTROLLER__VISIBILITY_PUBLIC controller_interface::CallbackReturn on_configure (const rclcpp_lifecycle::State &previous_state) override

PID_CONTROLLER__VISIBILITY_PUBLIC controller_interface::CallbackReturn on_activate (const rclcpp_lifecycle::State &previous_state) override

PID_CONTROLLER__VISIBILITY_PUBLIC controller_interface::CallbackReturn on_deactivate (const rclcpp_lifecycle::State &previous_state) override

PID_CONTROLLER__VISIBILITY_PUBLIC controller_interface::return_type update_reference_from_subscribers (const rclcpp::Time &time, const rclcpp::Duration &period) override

PID_CONTROLLER__VISIBILITY_PUBLIC controller_interface::return_type update_and_write_commands (const rclcpp::Time &time, const rclcpp::Duration &period) override

Protected Types

using PidPtr = std::shared_ptr<control_toolbox::PidROS>

using ControllerStatePublisher = realtime_tools::RealtimePublisher<ControllerStateMsg>

Protected Functions

std::vector<hardware_interface::CommandInterface> on_export_reference_interfaces() override

bool on_set_chained_mode(bool chained_mode) override

void update_parameters()

controller_interface::CallbackReturn configure_parameters()

Protected Attributes

std::shared_ptr<pid_controller::ParamListener> param_listener_

pid_controller::Params params_

std::vector<std::string> reference_and_state_dof_names_

size_t dof_

std::vector<double> measured_state_values_

std::vector<PidPtr> pids_

std::vector<double> feedforward_gain_

rclcpp::Subscription<ControllerReferenceMsg>::SharedPtr ref_subscriber_ = nullptr

realtime_tools::RealtimeBuffer<std::shared_ptr<ControllerReferenceMsg>> input_ref_

rclcpp::Subscription<ControllerMeasuredStateMsg>::SharedPtr measured_state_subscriber_ = nullptr

realtime_tools::RealtimeBuffer<std::shared_ptr<ControllerMeasuredStateMsg>> measured_state_

rclcpp::Service<ControllerModeSrvType>::SharedPtr set_feedforward_control_service_

realtime_tools::RealtimeBuffer<feedforward_mode_type> control_mode_

rclcpp::Publisher<ControllerStateMsg>::SharedPtr s_publisher_

std::unique_ptr<ControllerStatePublisher> state_publisher_