pid.h
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00001 #ifndef HECTOR_QUADROTOR_CONTROLLER_PID_H
00002 #define HECTOR_QUADROTOR_CONTROLLER_PID_H
00003 
00004 #include <ros/node_handle.h>
00005 
00006 namespace hector_quadrotor_controller {
00007 
00008 class PID
00009 {
00010 public:
00011   struct parameters {
00012     parameters();
00013     bool enabled;
00014     double time_constant;
00015     double k_p;
00016     double k_i;
00017     double k_d;
00018     double limit_i;
00019     double limit_output;
00020   } parameters_;
00021 
00022   struct state {
00023     state();
00024     double p, i, d;
00025     double input, dinput;
00026     double dx;
00027   } state_;
00028 
00029 public:
00030   PID();
00031   PID(const parameters& parameters);
00032   ~PID();
00033 
00034   void init(const ros::NodeHandle &param_nh);
00035   void reset();
00036 
00037   double update(double input, double x, double dx, const ros::Duration& dt);
00038   double update(double error, double dx, const ros::Duration& dt);
00039 
00040   double getFilteredControlError(double& filtered_error, double time_constant, const ros::Duration& dt);
00041 };
00042 
00043 } // namespace hector_quadrotor_controller
00044 
00045 #endif // HECTOR_QUADROTOR_CONTROLLER_PID_H


hector_quadrotor_controller
Author(s): Johannes Meyer
autogenerated on Sun Jul 10 2016 04:49:53