pid_controller::PositionPID Class Reference

Position Form PID Controller class. More...

#include <pid.hpp>

Public Member Functions
	PositionPID (const PositionPIDParameter param)
	Controller gain setting.
void	reset ()
	Reset pid.
std::array< double, 3 >	get_each_term ()
	Get each term value of pid.
void	set_offset (double offset)
	Set offset.
double	update (double current, double target, double last_saturated)
	Update PID cycle.

Detailed Description

Position Form PID Controller class.

Constructor & Destructor Documentation

PositionPID()

pid_controller::PositionPID::PositionPID ( const PositionPIDParameter  param )

explicit

Controller gain setting.

Parameters

param

Hyperparameter for velocity pid

Member Function Documentation

get_each_term()

std::array< double, 3 > pid_controller::PositionPID::get_each_term

(

)

Get each term value of pid.

Returns

array(x, y, z)

reset()

void pid_controller::PositionPID::reset

(

)

Reset pid.

Returns

none

set_offset()

void pid_controller::PositionPID::set_offset

(

double

offset

)

Set offset.

Parameters

offset

offset parameter

update()

double pid_controller::PositionPID::update	(	double	current,
		double	target,
		double	last_saturated = 0.0
	)

Update PID cycle.

Parameters

current	Process value
target	Setting value
last_saturated	Whether the last control input was saturated (for anti-windup)

Returns

Manipulated value

Calculate PID

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The documentation for this class was generated from the following files:

• src/common/pid_controller/include/pid_controller/pid.hpp
• src/common/pid_controller/src/pid.cpp