gz/math/PID.hh

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/*
 * Copyright (C) 2016 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef GZ_MATH_PID_HH_
#define GZ_MATH_PID_HH_
 
#include <chrono>
#include <gz/math/Helpers.hh>
#include <gz/math/config.hh>
 
namespace ignition
{
  namespace math
  {
    // Inline bracket to help doxygen filtering.
    inline namespace IGNITION_MATH_VERSION_NAMESPACE {
    //
    // cppcheck-suppress class_X_Y
    class IGNITION_MATH_VISIBLE PID
    {
      public: PID(const double _p = 0.0,
                  const double _i = 0.0,
                  const double _d = 0.0,
                  const double _imax = -1.0,
                  const double _imin = 0.0,
                  const double _cmdMax = -1.0,
                  const double _cmdMin = 0.0,
                  const double _cmdOffset = 0.0);
 
      public: ~PID() = default;
 
      public: void Init(const double _p = 0.0,
                        const double _i = 0.0,
                        const double _d = 0.0,
                        const double _imax = -1.0,
                        const double _imin = 0.0,
                        const double _cmdMax = -1.0,
                        const double _cmdMin = 0.0,
                        const double _cmdOffset = 0.0);
 
      public: void SetPGain(const double _p);
 
      public: void SetIGain(const double _i);
 
      public: void SetDGain(const double _d);
 
      public: void SetIMax(const double _i);
 
      public: void SetIMin(const double _i);
 
      public: void SetCmdMax(const double _c);
 
      public: void SetCmdMin(const double _c);
 
      public: void SetCmdOffset(const double _c);
 
      public: double PGain() const;
 
      public: double IGain() const;
 
      public: double DGain() const;
 
      public: double IMax() const;
 
      public: double IMin() const;
 
      public: double CmdMax() const;
 
      public: double CmdMin() const;
 
      public: double CmdOffset() const;
 
      public: double Update(const double _error,
                            double _errorRate,
                            const std::chrono::duration<double> &_dt);
 
      public: double Update(const double _error,
                            const std::chrono::duration<double> &_dt);
 
      public: void SetCmd(const double _cmd);
 
      public: double Cmd() const;
 
      public: void Errors(double &_pe, double &_ie, double &_de) const;
 
      public: PID &operator=(const PID &_p);
 
      public: void Reset();
 
      private: double pErrLast = 0.0;
 
      private: double pErr = 0.0;
 
      private: double iErr = 0.0;
 
      private: double dErr = 0.0;
 
      private: double pGain;
 
      private: double iGain = 0.0;
 
      private: double dGain = 0.0;
 
      private: double iMax = -1.0;
 
      private: double iMin = 0.0;
 
      private: double cmd = 0.0;
 
      private: double cmdMax = -1.0;
 
      private: double cmdMin = 0.0;
 
      private: double cmdOffset = 0.0;
    };
    }
  }
}
#endif