51 using Ptr = std::shared_ptr<PIDController>;
57 const Eigen::VectorXd&
P()
const;
63 const Eigen::VectorXd&
I()
const;
67 const Eigen::VectorXd&
D()
const;
69 ,
const Eigen::VectorXd& DError
71 const Eigen::VectorXd&
computeCommand(
const Eigen::VectorXd& Error,
double dt);
80 Eigen::VectorXd i_error_;
81 Eigen::VectorXd d_error_;
Represents a set of parameters that can be loaded from a YAML file.
Definition: ConfigurableOrcaObject.h:14
void setIntegralGain(const Eigen::VectorXd &I_gain)
Definition: PIDController.cc:65
const Eigen::VectorXd & computeCommand(const Eigen::VectorXd &Error, const Eigen::VectorXd &DError, double dt)
Definition: PIDController.cc:110
std::shared_ptr< ConfigurableOrcaObject > Ptr
Definition: ConfigurableOrcaObject.h:17
void setWindupLimit(const Eigen::VectorXd &windup_lim)
Definition: PIDController.cc:75
void setDerivativeGain(const Eigen::VectorXd &D_gain)
Definition: PIDController.cc:95
void resize(int dim)
Definition: PIDController.cc:17
const Eigen::VectorXd & I() const
Definition: PIDController.cc:90
void print() const
Definition: PIDController.cc:136
const Eigen::VectorXd & windupLimit()
Definition: PIDController.cc:85
Definition: CartesianAccelerationPID.h:44
const Eigen::VectorXd & P() const
Definition: PIDController.cc:60
PIDController(const std::string &name="pid")
Definition: PIDController.cc:6
void setProportionalGain(const Eigen::VectorXd &P_gain)
Definition: PIDController.cc:50
Definition: PIDController.h:48
const Eigen::VectorXd & D() const
Definition: PIDController.cc:105