PID.hh
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 
18 #ifndef _GAZEBO_PID_HH_
19 #define _GAZEBO_PID_HH_
20 
21 #include "gazebo/common/Time.hh"
22 #include "gazebo/util/system.hh"
23 
24 namespace gazebo
25 {
26  namespace common
27  {
30 
36  class GZ_COMMON_VISIBLE PID
37  {
51  public: PID(double _p = 0.0, double _i = 0.0, double _d = 0.0,
52  double _imax = 0.0, double _imin = 0.0,
53  double _cmdMax = -1.0, double _cmdMin = 0.0);
54 
56  public: virtual ~PID();
57 
71  public: void Init(double _p = 0.0, double _i = 0.0, double _d = 0.0,
72  double _imax = 0.0, double _imin = 0.0,
73  double _cmdMax = -1.0, double _cmdMin = 0.0);
74 
77  public: void SetPGain(double _p);
78 
81  public: void SetIGain(double _i);
82 
85  public: void SetDGain(double _d);
86 
89  public: void SetIMax(double _i);
90 
93  public: void SetIMin(double _i);
94 
97  public: void SetCmdMax(double _c);
98 
101  public: void SetCmdMin(double _c);
102 
105  public: double GetPGain() const;
106 
109  public: double GetIGain() const;
110 
113  public: double GetDGain() const;
114 
117  public: double GetIMax() const;
118 
121  public: double GetIMin() const;
122 
125  public: double GetCmdMax() const;
126 
129  public: double GetCmdMin() const;
130 
138  public: double Update(double _error, common::Time _dt);
139 
142  public: void SetCmd(double _cmd);
143 
146  public: double GetCmd();
147 
152  public: void GetErrors(double &_pe, double &_ie, double &_de);
153 
157  public: PID &operator=(const PID &_p)
158  {
159  if (this == &_p)
160  return *this;
161 
162  this->pGain = _p.pGain;
163  this->iGain = _p.iGain;
164  this->dGain = _p.dGain;
165  this->iMax = _p.iMax;
166  this->iMin = _p.iMin;
167  this->cmdMax = _p.cmdMax;
168  this->cmdMin = _p.cmdMin;
169  this->pErrLast = _p.pErrLast;
170  this->pErr = _p.pErr;
171  this->iErr = _p.iErr;
172  this->dErr = _p.dErr;
173  this->cmd = _p.cmd;
174 
175  this->Reset();
176  return *this;
177  }
178 
180  public: void Reset();
181 
183  private: double pErrLast;
184 
186  private: double pErr;
187 
189  private: double iErr;
190 
192  private: double dErr;
193 
195  private: double pGain;
196 
198  private: double iGain;
199 
201  private: double dGain;
202 
204  private: double iMax;
205 
207  private: double iMin;
208 
210  private: double cmd;
211 
213  private: double cmdMax = -1.0;
214 
216  private: double cmdMin = 0.0;
217  };
219  }
220 }
221 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
PID & operator=(const PID &_p)
Assignment operator.
Definition: PID.hh:157
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
Generic PID controller class.
Definition: PID.hh:36
A Time class, can be used to hold wall- or sim-time.
Definition: Time.hh:44