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>
#include <gz/utils/ImplPtr.hh>
 
namespace gz::math
{
  // Inline bracket to help doxygen filtering.
  inline namespace GZ_MATH_VERSION_NAMESPACE {
  //
  // cppcheck-suppress class_X_Y
  class GZ_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: 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: void Reset();
 
    GZ_UTILS_IMPL_PTR(dataPtr)
  };
  }  // namespace GZ_MATH_VERSION_NAMESPACEH
}  // namespace gz::math
#endif  // GZ_MATH_PID_HH_