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. More...

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

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	The max integral windup.
i_min	The min integral windup.

Exceptions

An	std::invalid_argument exception is thrown if i_min > i_max

◆ 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	The max integral windup.
i_min	The min integral windup.
antiwindup	If true, antiwindup is enabled and i_max/i_min are enforced

Exceptions

An	std::invalid_argument exception is thrown if i_min > i_max

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/include/control_toolbox/pid.hpp

Public Member Functions

Public Attributes