Gazebo Math

API Reference

7.5.1
gz/math/PID.hh
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1 /*
2  * Copyright (C) 2016 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 #ifndef GZ_MATH_PID_HH_
18 #define GZ_MATH_PID_HH_
19 
20 #include <chrono>
21 #include <gz/math/Helpers.hh>
22 #include <gz/math/config.hh>
23 #include <gz/utils/ImplPtr.hh>
24 
25 namespace gz::math
26 {
27  // Inline bracket to help doxygen filtering.
28  inline namespace GZ_MATH_VERSION_NAMESPACE {
29  //
36  // cppcheck-suppress class_X_Y
37  class GZ_MATH_VISIBLE PID
38  {
56  public: PID(const double _p = 0.0,
57  const double _i = 0.0,
58  const double _d = 0.0,
59  const double _imax = -1.0,
60  const double _imin = 0.0,
61  const double _cmdMax = -1.0,
62  const double _cmdMin = 0.0,
63  const double _cmdOffset = 0.0);
64 
82  public: void Init(const double _p = 0.0,
83  const double _i = 0.0,
84  const double _d = 0.0,
85  const double _imax = -1.0,
86  const double _imin = 0.0,
87  const double _cmdMax = -1.0,
88  const double _cmdMin = 0.0,
89  const double _cmdOffset = 0.0);
90 
93  public: void SetPGain(const double _p);
94 
97  public: void SetIGain(const double _i);
98 
101  public: void SetDGain(const double _d);
102 
105  public: void SetIMax(const double _i);
106 
109  public: void SetIMin(const double _i);
110 
113  public: void SetCmdMax(const double _c);
114 
117  public: void SetCmdMin(const double _c);
118 
122  public: void SetCmdOffset(const double _c);
123 
126  public: double PGain() const;
127 
130  public: double IGain() const;
131 
134  public: double DGain() const;
135 
138  public: double IMax() const;
139 
142  public: double IMin() const;
143 
146  public: double CmdMax() const;
147 
150  public: double CmdMin() const;
151 
154  public: double CmdOffset() const;
155 
167  public: double Update(const double _error,
168  double _errorRate,
169  const std::chrono::duration<double> &_dt);
170 
178  public: double Update(const double _error,
179  const std::chrono::duration<double> &_dt);
180 
183  public: void SetCmd(const double _cmd);
184 
187  public: double Cmd() const;
188 
193  public: void Errors(double &_pe, double &_ie, double &_de) const;
194 
196  public: void Reset();
197 
199  GZ_UTILS_IMPL_PTR(dataPtr)
200  };
201  } // namespace GZ_MATH_VERSION_NAMESPACEH
202 } // namespace gz::math
203 #endif // GZ_MATH_PID_HH_