#include <PIDController.h>

Inheritance diagram for orca::common::PIDController:

Collaboration diagram for orca::common::PIDController:

Public Types
using	Ptr = std::shared_ptr< PIDController >

Public Types inherited from orca::common::ConfigurableOrcaObject
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

Public Member Functions inherited from orca::common::ConfigurableOrcaObject
	ConfigurableOrcaObject (const std::string &config_name)

virtual	~ConfigurableOrcaObject ()

template<class T >
void	addParameter (const std::string &param_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 &param_name, T &param, ParamPolicy policy=ParamPolicy::Required, std::function< void()> on_loading_success=0)

ParameterBase *	getParameter (const std::string &param_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)

Public Member Functions inherited from orca::common::OrcaObject
	OrcaObject (const std::string &name)

virtual	~OrcaObject ()

const std::string &	getName () const

void	setName (const std::string &name)

Member Typedef Documentation

using orca::common::PIDController::Ptr = std::shared_ptr<PIDController>

Constructor & Destructor Documentation

PIDController::PIDController ( const std::string & name = "pid" )

Member Function Documentation

const Eigen::VectorXd & PIDController::computeCommand	(	const Eigen::VectorXd &	Error,
		const Eigen::VectorXd &	DError,
		double	dt
	)

const Eigen::VectorXd & PIDController::computeCommand	(	const Eigen::VectorXd &	Error,
		double	dt
	)

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 ( )

The documentation for this class was generated from the following files:

/home/docs/checkouts/readthedocs.org/user_builds/orca-controller/checkouts/dev/include/orca/common/PIDController.h
/home/docs/checkouts/readthedocs.org/user_builds/orca-controller/checkouts/dev/src/common/PIDController.cc

Public Types

Public Member Functions

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation