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ORCA: Optimization-based framework for Robotic Control Applications
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#include <PIDController.h>
Public Types | |
using | Ptr = std::shared_ptr< PIDController > |
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using | Ptr = std::shared_ptr< ConfigurableOrcaObject > |
using | ParamMap = std::map< std::string, ParameterBase *> |
Public Member Functions | |
PIDController (const std::string &name="pid") | |
void | resize (int dim) |
void | setProportionalGain (const Eigen::VectorXd &P_gain) |
void | setProportionalGain (const std::vector< double > &P_gain) |
const Eigen::VectorXd & | P () const |
void | setIntegralGain (const Eigen::VectorXd &I_gain) |
void | setIntegralGain (const std::vector< double > &I_gain) |
void | setWindupLimit (const Eigen::VectorXd &windup_lim) |
void | setWindupLimit (const std::vector< double > &windup_lim) |
const Eigen::VectorXd & | windupLimit () |
const Eigen::VectorXd & | I () const |
void | setDerivativeGain (const Eigen::VectorXd &D_gain) |
void | setDerivativeGain (const std::vector< double > &D_gain) |
const Eigen::VectorXd & | D () const |
const Eigen::VectorXd & | computeCommand (const Eigen::VectorXd &Error, const Eigen::VectorXd &DError, double dt) |
const Eigen::VectorXd & | computeCommand (const Eigen::VectorXd &Error, double dt) |
void | print () const |
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ConfigurableOrcaObject (const std::string &config_name) | |
virtual | ~ConfigurableOrcaObject () |
template<class T > | |
void | addParameter (const std::string ¶m_name, Parameter< T > *param, ParamPolicy policy=ParamPolicy::Required, std::function< void()> on_loading_success=0) |
Returns true if all params added with have been set. More... | |
template<class T > | |
void | addParameter (const std::string ¶m_name, T ¶m, ParamPolicy policy=ParamPolicy::Required, std::function< void()> on_loading_success=0) |
ParameterBase * | getParameter (const std::string ¶m_name) |
Returns a param via its name. More... | |
void | printParameters () const |
Print all parameters to std::cout. More... | |
bool | configureFromFile (const std::string &yaml_url) |
Configure the task from YAML/JSON file. It must contain all the required parameters. More... | |
bool | configureFromString (const std::string &yaml_str) |
Configure the task from YAML/JSON string. It must contain all the required parameters. More... | |
bool | isConfigured () const |
const ParamMap & | getParameters () const |
void | onConfigureSuccess (std::function< void()> f) |
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OrcaObject (const std::string &name) | |
virtual | ~OrcaObject () |
const std::string & | getName () const |
void | setName (const std::string &name) |
using orca::common::PIDController::Ptr = std::shared_ptr<PIDController> |
PIDController::PIDController | ( | const std::string & | name = "pid" | ) |
const Eigen::VectorXd & PIDController::computeCommand | ( | const Eigen::VectorXd & | Error, |
const Eigen::VectorXd & | DError, | ||
double | dt | ||
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const Eigen::VectorXd & PIDController::computeCommand | ( | const Eigen::VectorXd & | Error, |
double | dt | ||
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const Eigen::VectorXd & PIDController::D | ( | ) | const |
const Eigen::VectorXd & PIDController::I | ( | ) | const |
const Eigen::VectorXd & PIDController::P | ( | ) | const |
void PIDController::print | ( | ) | const |
void PIDController::resize | ( | int | dim | ) |
void PIDController::setDerivativeGain | ( | const Eigen::VectorXd & | D_gain | ) |
void PIDController::setDerivativeGain | ( | const std::vector< double > & | D_gain | ) |
void PIDController::setIntegralGain | ( | const Eigen::VectorXd & | I_gain | ) |
void PIDController::setIntegralGain | ( | const std::vector< double > & | I_gain | ) |
void PIDController::setProportionalGain | ( | const Eigen::VectorXd & | P_gain | ) |
void PIDController::setProportionalGain | ( | const std::vector< double > & | P_gain | ) |
void PIDController::setWindupLimit | ( | const Eigen::VectorXd & | windup_lim | ) |
void PIDController::setWindupLimit | ( | const std::vector< double > & | windup_lim | ) |
const Eigen::VectorXd & PIDController::windupLimit | ( | ) |