Template Struct PIDParams

• Defined in File PIDController.hpp

Struct Documentation

template<typename P = double, int dim = 3>
struct PIDParams

Public Types

using Vector = Eigen::Matrix<P, dim, 1>

using Matrix = Eigen::Matrix<P, dim, dim>

using Vector = Eigen::Matrix<P, dim, 1>

using Matrix = Eigen::Matrix<P, dim, dim>

Public Members

Vector Kp_gains = Vector::Zero()

Vector Ki_gains = Vector::Zero()

Vector Kd_gains = Vector::Zero()

Vector antiwindup_cte = Vector::Zero()

Vector alpha = Vector::Ones()

bool reset_integral_flag = false

bool proportional_saturation_flag = false

Vector upper_output_saturation = Vector::Zero()

Vector lower_output_saturation = Vector::Zero()