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)
	Optional constructor for passing in values without antiwindup.

	Gains (double p, double i, double d, double i_max, double i_min, bool antiwindup)
	Optional constructor for passing in values.

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.

Constructor & Destructor Documentation

◆ Gains() [1/2]

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.

Parameters

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

◆ Gains() [2/2]

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.

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.

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.

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