control::PIDController< dim > Class Template Reference

A PID controller for multiple independent dimensions. More...

#include <PIDControl.h>

Public Types
template<int d>
using	Arrayd = Eigen::Array<double, d, 1>

Public Member Functions
	PIDController (const std::array< PIDGains, dim > &gains)
	Construct a new PIDController.
void	setGains (const std::array< PIDGains, dim > &gains)
	Set the gains of the PID controller.
bool	hasTarget ()
	Check if a target is currently set.
void	setTarget (const Arrayd< dim > &setPoint)
	Set the target of the controller.
Arrayd< dim >	getOutput (robot::types::datatime_t currTime, const Arrayd< dim > &currValue)
	Get the output from the controller.
void	reset ()
	Reset the controller.

Detailed Description

template<int dim>
class control::PIDController< dim >

A PID controller for multiple independent dimensions.

Template Parameters

dim	The number of dimensions to control.

See also

https://en.wikipedia.org/wiki/PID_controller

Constructor & Destructor Documentation

PIDController()

template<int dim>

control::PIDController< dim >::PIDController ( const std::array< PIDGains, dim > & gains )

inline

Construct a new PIDController.

Parameters

gains

The gains to use for the controller.

Member Function Documentation

getOutput()

template<int dim>

Arrayd< dim > control::PIDController< dim >::getOutput ( robot::types::datatime_t currTime, const Arrayd< dim > & currValue )

inline

Get the output from the controller.

Parameters

currTime	The current timestamp.
currValue	The current values of the controlled signals.

Returns

Arrayd<dim> Targets for each dimension if target is set, else zeros.

hasTarget()

template<int dim>

bool control::PIDController< dim >::hasTarget ( )

inline

Check if a target is currently set.

Returns

bool True iff the controller currently has a target.

setGains()

template<int dim>

void control::PIDController< dim >::setGains ( const std::array< PIDGains, dim > & gains )

inline

Set the gains of the PID controller.

Parameters

gains

The new gains to set.

setTarget()

template<int dim>

void control::PIDController< dim >::setTarget ( const Arrayd< dim > & setPoint )

inline

Set the target of the controller.

Parameters

setPoint

An array of setpoints, one for each dimension.

---

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

• src/control/PIDControl.h