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 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()

AntiWindupStrategy	antiwindup_strat_

Detailed Description

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

Constructor & Destructor Documentation

◆ Gains()

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_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.

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

control_toolbox/control_toolbox/include/control_toolbox/pid.hpp

Public Member Functions

Public Attributes