control_toolbox::Pid::Gains Struct Reference

Store gains in a struct to allow easier realtime buffer usage. More...

#include <pid.hpp>

Public Member Functions
	Gains (double p, double i, double d, double i_max, double i_min)
	Gains (double p, double i, double d, double i_max, double i_min, bool antiwindup)

Public Attributes
double	p_gain_
double	i_gain_
double	d_gain_
double	i_max_
double	i_min_
bool	antiwindup_

Detailed Description

Store gains in a struct to allow easier realtime buffer usage.

Member Data Documentation

antiwindup_

bool control_toolbox::Pid::Gains::antiwindup_

Antiwindup.

d_gain_

double control_toolbox::Pid::Gains::d_gain_

Derivative gain.

i_gain_

double control_toolbox::Pid::Gains::i_gain_

Integral gain.

i_max_

double control_toolbox::Pid::Gains::i_max_

Maximum allowable integral term.

i_min_

double control_toolbox::Pid::Gains::i_min_

Minimum allowable integral term.

p_gain_

double control_toolbox::Pid::Gains::p_gain_

Proportional gain.

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

• control_toolbox/include/control_toolbox/pid.hpp