pid_controller::VelocityPID Class Reference

Velocity Form PID Controller class. More...

#include <pid.hpp>

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

Detailed Description

Velocity Form PID Controller class.

Constructor & Destructor Documentation

VelocityPID()

pid_controller::VelocityPID::VelocityPID ( const VelocityPIDParameter  param )

explicit

Controller gain setting.

Parameters

param

Hyperparameter for velocity pid

Member Function Documentation

get_dt()

double pid_controller::VelocityPID::get_dt

(

)

const

Get dt.

Returns

double

get_each_term()

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

(

)

Get each term value of pid.

Returns

array(x, y, z)

reset()

void pid_controller::VelocityPID::reset

(

)

Reset previous output.

Returns

none

set_offset()

void pid_controller::VelocityPID::set_offset

(

double

offset

)

Set offset.

Parameters

offset

offset parameter

update()

double pid_controller::VelocityPID::update	(	double	current,
		double	target
	)

Update PID cycle.

Parameters

current	Process value
target	Setting value

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