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modules
simulator
include
mvsim
PID_Controller.h
Go to the documentation of this file.
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/*+-------------------------------------------------------------------------+
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| MultiVehicle simulator (libmvsim) |
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| |
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| Copyright (C) 2014-2020 Jose Luis Blanco Claraco |
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| Copyright (C) 2017 Borys Tymchenko (Odessa Polytechnic University) |
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| Distributed under 3-clause BSD License |
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| See COPYING |
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+-------------------------------------------------------------------------+ */
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#pragma once
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namespace
mvsim
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{
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struct
PID_Controller
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{
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PID_Controller
();
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double
KP
,
KI
,
KD
;
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double
max_out
;
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double
compute
(
double
err,
double
dt);
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private
:
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double
lastOutput
;
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double
e_n
,
e_n_1
,
e_n_2
;
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};
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}
// namespace mvsim
mvsim
mvsim::PID_Controller::PID_Controller
PID_Controller()
Definition:
PID_Controller.cpp:14
mvsim::PID_Controller::KD
double KD
Definition:
PID_Controller.h:17
mvsim::PID_Controller::KP
double KP
Definition:
PID_Controller.h:17
mvsim::PID_Controller::e_n
double e_n
Definition:
PID_Controller.h:25
mvsim::PID_Controller::lastOutput
double lastOutput
Definition:
PID_Controller.h:24
mvsim::PID_Controller
Definition:
PID_Controller.h:13
mvsim::PID_Controller::max_out
double max_out
For clamping (0=no clamp)
Definition:
PID_Controller.h:18
mvsim::PID_Controller::compute
double compute(double err, double dt)
Definition:
PID_Controller.cpp:27
mvsim::PID_Controller::e_n_1
double e_n_1
Definition:
PID_Controller.h:25
mvsim::PID_Controller::e_n_2
double e_n_2
Definition:
PID_Controller.h:25
mvsim::PID_Controller::KI
double KI
Definition:
PID_Controller.h:17
mvsim
Author(s):
autogenerated on Fri May 7 2021 03:05:51