control_toolbox::PidROS Class Reference

Public Member Functions
template<class NodeT >
	PidROS (std::shared_ptr< NodeT > node_ptr, std::string prefix=std::string(""), bool prefix_is_for_params=false)
	Constructor of PidROS class.
template<class NodeT >
	PidROS (std::shared_ptr< NodeT > node_ptr, const std::string &param_prefix)
template<class NodeT >
	PidROS (std::shared_ptr< NodeT > node_ptr, const std::string &param_prefix, const std::string &topic_prefix)
	Constructor of PidROS class.
template<class NodeT >
	PidROS (std::shared_ptr< NodeT > node_ptr, std::string param_prefix, std::string topic_prefix, bool activate_state_publisher)
	Constructor of PidROS class.
	PidROS (rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base, rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging, rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_params, rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr topics_interface, std::string prefix=std::string(""), bool prefix_is_for_params=false)
	PidROS (rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base, rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging, rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_params, rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr topics_interface, const std::string &param_prefix, const std::string &topic_prefix, bool activate_state_publisher)
	Constructor of PidROS class with node_interfaces.
bool	initialize_from_args (double p, double i, double d, double i_max, double i_min, bool antiwindup)
	Initialize the PID controller and set the parameters.
void	initPid (double p, double i, double d, double i_max, double i_min, bool antiwindup)
	Initialize the PID controller and set the parameters.
bool	initialize_from_args (double p, double i, double d, double i_max, double i_min, bool antiwindup, bool save_i_term)
	Initialize the PID controller and set the parameters.
void	initPid (double p, double i, double d, double i_max, double i_min, bool antiwindup, bool save_i_term)
	Initialize the PID controller and set the parameters.
bool	initialize_from_args (double p, double i, double d, double u_max, double u_min, const AntiWindupStrategy &antiwindup_strat, bool save_i_term)
	Initialize the PID controller and set the parameters.
bool	initialize_from_ros_parameters ()
	Initialize the PID controller based on already set parameters.
bool	initPid ()
	Initialize the PID controller based on already set parameters.
void	reset ()
	Reset the state of this PID controller.
void	reset (bool save_i_term)
	Reset the state of this PID controller.
double	compute_command (double error, const rclcpp::Duration &dt)
	Set the PID error and compute the PID command with nonuniform time step size. The derivative error is computed from the change in the error and the timestep dt.
double	computeCommand (double error, rclcpp::Duration dt)
	Set the PID error and compute the PID command with nonuniform time step size. The derivative error is computed from the change in the error and the timestep dt.
double	compute_command (double error, double error_dot, const rclcpp::Duration &dt)
	Set the PID error and compute the PID command with nonuniform time step size. This also allows the user to pass in a precomputed derivative error.
double	computeCommand (double error, double error_dot, rclcpp::Duration dt)
	Set the PID error and compute the PID command with nonuniform time step size. This also allows the user to pass in a precomputed derivative error.
Pid::Gains	get_gains ()
	Get PID gains for the controller.
Pid::Gains	getGains ()
	Get PID gains for the controller.
bool	set_gains (double p, double i, double d, double i_max, double i_min, bool antiwindup=false)
	Set PID gains for the controller.
bool	set_gains (double p, double i, double d, double u_max, double u_min, const AntiWindupStrategy &antiwindup_strat)
	Set PID gains for the controller (preferred).
void	setGains (double p, double i, double d, double i_max, double i_min, bool antiwindup=false)
	Set PID gains for the controller.
bool	set_gains (const Pid::Gains &gains)
	Set PID gains for the controller.
void	setGains (const Pid::Gains &gains)
	Set PID gains for the controller.
void	set_current_cmd (double cmd)
	Set current command for this PID controller.
void	setCurrentCmd (double cmd)
	Set current command for this PID controller.
double	get_current_cmd ()
	Return current command for this PID controller.
double	getCurrentCmd ()
	Return current command for this PID controller.
std::shared_ptr< rclcpp::Publisher< control_msgs::msg::PidState > >	get_pid_state_publisher ()
	Return PID state publisher.
std::shared_ptr< rclcpp::Publisher< control_msgs::msg::PidState > >	getPidStatePublisher ()
	Return PID state publisher.
void	get_current_pid_errors (double &pe, double &ie, double &de)
	Return PID error terms for the controller.
void	getCurrentPIDErrors (double &pe, double &ie, double &de)
	Return PID error terms for the controller.
void	print_values ()
	Print to console the current parameters.
void	printValues ()
	Print to console the current parameters.
rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr	get_parameters_callback_handle ()
	Return PID parameters callback handle.
rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr	getParametersCallbackHandle ()
	Return PID parameters callback handle.

Protected Attributes
std::string	topic_prefix_
std::string	param_prefix_

Constructor & Destructor Documentation

PidROS() [1/4]

template<class NodeT >

control_toolbox::PidROS::PidROS ( std::shared_ptr< NodeT >  node_ptr, std::string  prefix = std::string(""), bool  prefix_is_for_params = false  )

inlineexplicit

Constructor of PidROS class.

The node is passed to this class to handler the ROS parameters, this class allows to add a prefix to the pid parameters

Parameters

node	ROS node
prefix	prefix to add to the pid parameters. Per default is prefix interpreted as prefix for topics.
prefix_is_for_params	provided prefix should be interpreted as prefix for parameters. If the parameter is true then "/" in the middle of the string will not be replaced with "." for parameters prefix. "/" or "~/" at the beginning will be removed.

PidROS() [2/4]

template<class NodeT >

control_toolbox::PidROS::PidROS ( std::shared_ptr< NodeT >  node_ptr, const std::string &  param_prefix, const std::string &  topic_prefix  )

inlineexplicit

Constructor of PidROS class.

The node is passed to this class to handler the ROS parameters, this class allows to add a prefix to the pid parameters

Parameters

node	Any ROS node
param_prefix	prefix to add to the pid parameters.
topic_prefix	prefix to add to the state publisher. If it starts with ~/, topic will be local under the namespace of the node. If it starts with / or an alphanumeric character, topic will be in global namespace.

PidROS() [3/4]

template<class NodeT >

control_toolbox::PidROS::PidROS ( std::shared_ptr< NodeT >  node_ptr, std::string  param_prefix, std::string  topic_prefix, bool  activate_state_publisher  )

inlineexplicit

Constructor of PidROS class.

The node is passed to this class to handler the ROS parameters, this class allows to add a prefix to the pid parameters

Parameters

node	Any ROS node
param_prefix	prefix to add to the pid parameters.
topic_prefix	prefix to add to the state publisher. If it starts with ~/, topic will be local under the namespace of the node. If it starts with / or an alphanumeric character, topic will be in global namespace.
activate_state_publisher	If true, the publisher will be enabled after initialization.

PidROS() [4/4]

control_toolbox::PidROS::PidROS	(	rclcpp::node_interfaces::NodeBaseInterface::SharedPtr	node_base,
		rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr	node_logging,
		rclcpp::node_interfaces::NodeParametersInterface::SharedPtr	node_params,
		rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr	topics_interface,
		const std::string &	param_prefix,
		const std::string &	topic_prefix,
		bool	activate_state_publisher
	)

Constructor of PidROS class with node_interfaces.

Parameters

node_base	Node base interface pointer.
node_logging	Node logging interface pointer.
node_params	Node parameters interface pointer.
topics_interface	Node topics interface pointer.
param_prefix	Prefix to add to the PID parameters. This string is not manipulated, i.e., probably should end with ..
topic_prefix	Prefix to add to the state publisher. This string is not manipulated, i.e., probably should end with /. If it starts with ~/, topic will be local under the namespace of the node. If it starts with / or an alphanumeric character, topic will be in global namespace.
activate_state_publisher	If true, the publisher will be enabled after initialization.

Member Function Documentation

compute_command() [1/2]

double control_toolbox::PidROS::compute_command	(	double	error,
		const rclcpp::Duration &	dt
	)

Set the PID error and compute the PID command with nonuniform time step size. The derivative error is computed from the change in the error and the timestep dt.

Parameters

error	Error since last call (error = target - state)
dt	Change in time since last call in seconds

Returns

PID command

compute_command() [2/2]

double control_toolbox::PidROS::compute_command	(	double	error,
		double	error_dot,
		const rclcpp::Duration &	dt
	)

Set the PID error and compute the PID command with nonuniform time step size. This also allows the user to pass in a precomputed derivative error.

Parameters

error	Error since last call (error = target - state)
error_dot	d(Error)/dt since last call
dt	Change in time since last call in seconds

Returns

PID command

computeCommand() [1/2]

double control_toolbox::PidROS::computeCommand	(	double	error,
		double	error_dot,
		rclcpp::Duration	dt
	)

Set the PID error and compute the PID command with nonuniform time step size. This also allows the user to pass in a precomputed derivative error.

Parameters

error	Error since last call (error = target - state)
error_dot	d(Error)/dt since last call
dt	Change in time since last call in seconds

Returns

PID command

computeCommand() [2/2]

double control_toolbox::PidROS::computeCommand	(	double	error,
		rclcpp::Duration	dt
	)

Set the PID error and compute the PID command with nonuniform time step size. The derivative error is computed from the change in the error and the timestep dt.

Parameters

error	Error since last call (error = target - state)
dt	Change in time since last call in seconds

Returns

PID command

get_current_cmd()

double control_toolbox::PidROS::get_current_cmd

(

)

Return current command for this PID controller.

Returns

current cmd

get_current_pid_errors()

void control_toolbox::PidROS::get_current_pid_errors	(	double &	pe,
		double &	ie,
		double &	de
	)

Return PID error terms for the controller.

Parameters

pe[out]	The proportional error.
ie[out]	The weighted integral error.
de[out]	The derivative error.

get_gains()

Pid::Gains control_toolbox::PidROS::get_gains

(

)

Get PID gains for the controller.

Returns

gains A struct of the PID gain values

Note

This method is not RT safe

get_parameters_callback_handle()

rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr control_toolbox::PidROS::get_parameters_callback_handle ( )

inline

Return PID parameters callback handle.

Returns

shared_ptr to the PID parameters callback handle

get_pid_state_publisher()

std::shared_ptr< rclcpp::Publisher< control_msgs::msg::PidState > > control_toolbox::PidROS::get_pid_state_publisher

(

)

Return PID state publisher.

Returns

shared_ptr to the PID state publisher

getCurrentCmd()

double control_toolbox::PidROS::getCurrentCmd

(

)

Return current command for this PID controller.

Returns

current cmd

getCurrentPIDErrors()

void control_toolbox::PidROS::getCurrentPIDErrors	(	double &	pe,
		double &	ie,
		double &	de
	)

Return PID error terms for the controller.

Parameters

pe[out]	The proportional error.
ie[out]	The integral error.
de[out]	The derivative error.

getGains()

Pid::Gains control_toolbox::PidROS::getGains

(

)

Get PID gains for the controller.

Returns

gains A struct of the PID gain values

getParametersCallbackHandle()

rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr control_toolbox::PidROS::getParametersCallbackHandle ( )

inline

Return PID parameters callback handle.

Returns

shared_ptr to the PID parameters callback handle

getPidStatePublisher()

std::shared_ptr< rclcpp::Publisher< control_msgs::msg::PidState > > control_toolbox::PidROS::getPidStatePublisher

(

)

Return PID state publisher.

Returns

shared_ptr to the PID state publisher

initialize_from_args() [1/3]

bool control_toolbox::PidROS::initialize_from_args	(	double	p,
		double	i,
		double	d,
		double	i_max,
		double	i_min,
		bool	antiwindup
	)

Initialize the PID controller and set the parameters.

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.

Returns

True if all parameters are successfully set, False otherwise.

Note

New gains are not applied if i_min_ > i_max_

initialize_from_args() [2/3]

bool control_toolbox::PidROS::initialize_from_args	(	double	p,
		double	i,
		double	d,
		double	i_max,
		double	i_min,
		bool	antiwindup,
		bool	save_i_term
	)

Initialize the PID controller and set the parameters.

Parameters

p	The proportional gain.
i	The integral gain.
d	The derivative gain.
i_max	The max integral windup.
i_min	The min integral windup.
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.
save_i_term	save integrator output between resets.

Returns

True if all parameters are successfully set, False otherwise.

Note

New gains are not applied if i_min_ > i_max_

initialize_from_args() [3/3]

bool control_toolbox::PidROS::initialize_from_args	(	double	p,
		double	i,
		double	d,
		double	u_max,
		double	u_min,
		const AntiWindupStrategy &	antiwindup_strat,
		bool	save_i_term
	)

Initialize the PID controller and set the parameters.

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.
save_i_term	save integrator output between resets.

Returns

True if all parameters are successfully set, False otherwise.

Note

New gains are not applied if u_min_ > u_max_.

initialize_from_ros_parameters()

bool control_toolbox::PidROS::initialize_from_ros_parameters

(

)

Initialize the PID controller based on already set parameters.

Returns

True if all parameters are set (p, i, d, i_max, i_min, u_max, u_min), False otherwise

False if the parameters are not set or if the parameters are invalid

initPid() [1/3]

bool control_toolbox::PidROS::initPid

(

)

Initialize the PID controller based on already set parameters.

Returns

True if all parameters are set (p, i, d, i_min and i_max), False otherwise

initPid() [2/3]

void control_toolbox::PidROS::initPid	(	double	p,
		double	i,
		double	d,
		double	i_max,
		double	i_min,
		bool	antiwindup
	)

Initialize the PID controller and set the parameters.

Parameters

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

Note

New gains are not applied if i_min_ > i_max_

initPid() [3/3]

void control_toolbox::PidROS::initPid	(	double	p,
		double	i,
		double	d,
		double	i_max,
		double	i_min,
		bool	antiwindup,
		bool	save_i_term
	)

Initialize the PID controller and set the parameters.

Parameters

p	The proportional gain.
i	The integral gain.
d	The derivative gain.
i_max	The max integral windup.
i_min	The min integral windup.
antiwindup	antiwindup.
save_i_term	save integrator output between resets.

Note

New gains are not applied if i_min_ > i_max_

reset() [1/2]

void control_toolbox::PidROS::reset

(

)

Reset the state of this PID controller.

Note

save_i_term parameter is read from ROS parameters

reset() [2/2]

void control_toolbox::PidROS::reset

(

bool

save_i_term

)

Reset the state of this PID controller.

Parameters

save_i_term

boolean indicating if integral term is retained on reset()

set_current_cmd()

void control_toolbox::PidROS::set_current_cmd

(

double

cmd

)

Set current command for this PID controller.

Parameters

cmd	command to set

set_gains() [1/3]

bool control_toolbox::PidROS::set_gains

(

const Pid::Gains &

gains

)

Set PID gains for the controller.

Parameters

gains

A struct of the PID gain values

Returns

True if all parameters are successfully set, False otherwise.

Note

New gains are not applied if gains.i_min_ > gains.i_max_

This method is not RT safe

set_gains() [2/3]

bool control_toolbox::PidROS::set_gains	(	double	p,
		double	i,
		double	d,
		double	i_max,
		double	i_min,
		bool	antiwindup = false
	)

Set PID gains for the controller.

Parameters

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

Returns

True if all parameters are successfully set, False otherwise.

Note

New gains are not applied if i_min > i_max

This method is not RT safe

set_gains() [3/3]

bool control_toolbox::PidROS::set_gains	(	double	p,
		double	i,
		double	d,
		double	u_max,
		double	u_min,
		const AntiWindupStrategy &	antiwindup_strat
	)

Set PID gains for the controller (preferred).

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.

Returns

True if all parameters are successfully set, False otherwise.

Note

New gains are not applied if u_min_ > u_max_.

This method is not RT safe

setCurrentCmd()

void control_toolbox::PidROS::setCurrentCmd

(

double

cmd

)

Set current command for this PID controller.

Parameters

cmd	command to set

setGains() [1/2]

void control_toolbox::PidROS::setGains

(

const Pid::Gains &

gains

)

Set PID gains for the controller.

Parameters

gains

A struct of the PID gain values

Note

New gains are not applied if gains.i_min_ > gains.i_max_

setGains() [2/2]

void control_toolbox::PidROS::setGains	(	double	p,
		double	i,
		double	d,
		double	i_max,
		double	i_min,
		bool	antiwindup = false
	)

Set PID gains for the controller.

Parameters

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

Note

New gains are not applied if i_min > i_max

---

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

• control_toolbox/control_toolbox/include/control_toolbox/pid_ros.hpp
• control_toolbox/control_toolbox/src/pid_ros.cpp