control_toolbox::Pid::Gains Struct Reference

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

#include <pid.hpp>

Collaboration diagram for control_toolbox::Pid::Gains:

Public Member Functions
	Gains (double p, double i, double d, double i_max, double i_min)
	Optional constructor for passing in values without antiwindup and saturation.
	Gains (double p, double i, double d, double i_max, double i_min, bool antiwindup)
	Optional constructor for passing in values without saturation.
	Gains (double p, double i, double d, double u_max, double u_min, const AntiWindupStrategy &antiwindup_strat)
	Constructor for passing in values.
bool	validate (std::string &error_msg) const
void	print () const

Public Attributes
double	p_gain_ = 0.0
double	i_gain_ = 0.0
double	d_gain_ = 0.0
double	i_max_
double	i_min_
double	u_max_ = std::numeric_limits<double>::infinity()
double	u_min_ = -std::numeric_limits<double>::infinity()
bool	antiwindup_ = false
AntiWindupStrategy	antiwindup_strat_

Detailed Description

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

Constructor & Destructor Documentation

Gains() [1/3]

control_toolbox::Pid::Gains::Gains ( double  p, double  i, double  d, double  i_max, double  i_min  )

inline

Optional constructor for passing in values without antiwindup and saturation.

Parameters

p	The proportional gain.
i	The integral gain.
d	The derivative gain.
i_max	Upper integral clamp.
i_min	Lower integral clamp.

Gains() [2/3]

control_toolbox::Pid::Gains::Gains ( double  p, double  i, double  d, double  i_max, double  i_min, bool  antiwindup  )

inline

Optional constructor for passing in values without saturation.

Parameters

p	The proportional gain.
i	The integral gain.
d	The derivative gain.
i_max	Upper integral clamp.
i_min	Lower integral clamp.
antiwindup	Anti-windup functionality. When set to true, limits the integral error to prevent windup; otherwise, constrains the integral contribution to the control output. i_max and i_min are applied in both scenarios.

Gains() [3/3]

control_toolbox::Pid::Gains::Gains ( double  p, double  i, double  d, double  u_max, double  u_min, const AntiWindupStrategy &  antiwindup_strat  )

inline

Constructor for passing in values.

Parameters

p	The proportional gain.
i	The integral gain.
d	The derivative gain.
u_max	Upper output clamp.
u_min	Lower output clamp.
antiwindup_strat	Specifies the anti-windup strategy. Options: 'back_calculation', 'conditional_integration', or 'none'. Note that the 'back_calculation' strategy use the tracking_time_constant parameter to tune the anti-windup behavior.

Member Data Documentation

antiwindup_

bool control_toolbox::Pid::Gains::antiwindup_ = false

Anti-windup.

antiwindup_strat_

AntiWindupStrategy control_toolbox::Pid::Gains::antiwindup_strat_

Anti-windup strategy.

d_gain_

double control_toolbox::Pid::Gains::d_gain_ = 0.0

Derivative gain.

i_gain_

double control_toolbox::Pid::Gains::i_gain_ = 0.0

Integral gain.

i_max_

double control_toolbox::Pid::Gains::i_max_

Initial value:

=
      std::numeric_limits<double>::infinity()

Maximum allowable integral term.

i_min_

double control_toolbox::Pid::Gains::i_min_

Initial value:

=
      -std::numeric_limits<double>::infinity()

Minimum allowable integral term.

p_gain_

double control_toolbox::Pid::Gains::p_gain_ = 0.0

Proportional gain.

u_max_

double control_toolbox::Pid::Gains::u_max_ = std::numeric_limits<double>::infinity()

Maximum allowable output.

u_min_

double control_toolbox::Pid::Gains::u_min_ = -std::numeric_limits<double>::infinity()

Minimum allowable output.

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

• control_toolbox/control_toolbox/include/control_toolbox/pid.hpp