18#ifndef _GAZEBO_PID_HH_
19#define _GAZEBO_PID_HH_
36 class GZ_COMMON_VISIBLE
PID
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);
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);
152 public:
void GetErrors(
double &_pe,
double &_ie,
double &_de);
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;
183 private:
double pErrLast;
186 private:
double pErr;
189 private:
double iErr;
192 private:
double dErr;
195 private:
double pGain;
198 private:
double iGain;
201 private:
double dGain;
204 private:
double iMax;
207 private:
double iMin;
213 private:
double cmdMax = -1.0;
216 private:
double cmdMin = 0.0;
common
Definition FuelModelDatabase.hh:37
Generic PID controller class.
Definition PID.hh:37
virtual ~PID()
Destructor.
double GetPGain() const
Get the proportional Gain.
void SetPGain(double _p)
Set the proportional Gain.
void SetCmdMax(double _c)
Set the maximum value for the command.
void SetIGain(double _i)
Set the integral Gain.
void Reset()
Reset the errors and command.
double Update(double _error, common::Time _dt)
Update the Pid loop with nonuniform time step size.
double GetDGain() const
Get the derivative Gain.
void Init(double _p=0.0, double _i=0.0, double _d=0.0, double _imax=0.0, double _imin=0.0, double _cmdMax=-1.0, double _cmdMin=0.0)
Initialize PID-gains and integral term limits:[iMax:iMin]-[I1:I2].
double GetCmd()
Return current command for this PID controller.
PID(double _p=0.0, double _i=0.0, double _d=0.0, double _imax=0.0, double _imin=0.0, double _cmdMax=-1.0, double _cmdMin=0.0)
Constructor, zeros out Pid values when created and initialize Pid-gains and integral term limits:[iMa...
void SetDGain(double _d)
Set the derivtive Gain.
double GetCmdMax() const
Get the maximum value for the command.
void SetIMin(double _i)
Set the integral lower limit.
double GetCmdMin() const
Get the maximum value for the command.
void SetCmd(double _cmd)
Set current target command for this PID controller.
double GetIMin() const
Get the integral lower limit.
PID & operator=(const PID &_p)
Assignment operator.
Definition PID.hh:157
void SetCmdMin(double _c)
Set the maximum value for the command.
double GetIGain() const
Get the integral Gain.
void SetIMax(double _i)
Set the integral upper limit.
void GetErrors(double &_pe, double &_ie, double &_de)
Return PID error terms for the controller.
double GetIMax() const
Get the integral upper limit.
A Time class, can be used to hold wall- or sim-time.
Definition Time.hh:48
Forward declarations for the common classes.
Definition Animation.hh:27