File pid.hpp¶
- Author
Vincent Berenz
- Copyright
Copyright (c) 2019, New York University and Max Planck Gesellschaft, License BSD-3-Clause
- Date
2019-12-09
-
namespace
package_template
Functions
-
class
PID
- #include <pid.hpp>
Simple 1D pid controller.
Public Functions
-
PID
() Construct a default PID object using the DefaultConfiguration.
-
PID
(const Gains_configuration &configuration) Construct a new PID object using a user provided configuration.
- Parameters
configuration
:
-
~PID
()
-
double
compute
(const double position, const double velocity, const double position_target, const double delta_time) compute the force related to the pid controller.
- Warning
this function is not stateless, as it performs integration. Call reset_pid() to reset the integral part.
- Return
computed force
- Parameters
position
: current positionvelocity
: current velocityposition_target
: target positiondelta_time
: time passed since last measurement. Used for integral computation
-
void
reset_integral
() reset integral part of the PID
Private Members
-
const Gains_configuration *
configuration_
-
bool
private_configuration_
-
double
integral_
-
-
class