Robotics Library  0.6.0
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rl::math::Pid< T > Class Template Reference

#include <Pid.h>

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Public Member Functions

 Pid ()
 
virtual ~Pid ()
 
operator() (const T &x, const Real &dt)
 
void reset ()
 

Public Attributes

kd
 
ki
 
kp
 
x
 

Private Attributes

e
 
i
 

Detailed Description

template<typename T>
class rl::math::Pid< T >

Proportional-Integral-Derivative controller.

Constructor & Destructor Documentation

template<typename T >
rl::math::Pid< T >::Pid ( )
inline
template<typename T >
virtual rl::math::Pid< T >::~Pid ( )
inlinevirtual

Member Function Documentation

template<typename T >
T rl::math::Pid< T >::operator() ( const T &  x,
const Real dt 
)
inline

\[ K_p e(t) + K_i \int_{0}^{t} e(\tau) \, d\tau + K_d \frac{de}{dt} \]

Parameters
dt$ dt $
template<typename T >
void rl::math::Pid< T >::reset ( )
inline

Member Data Documentation

template<typename T >
T rl::math::Pid< T >::e
private

Previous error.

template<typename T >
T rl::math::Pid< T >::i
private

Integral output $ K_i \int_{0}^{t} e(\tau) \, d\tau $.

template<typename T >
T rl::math::Pid< T >::kd

Derivative gain $ K_d $.

template<typename T >
T rl::math::Pid< T >::ki

Integral gain $ K_i $.

template<typename T >
T rl::math::Pid< T >::kp

Proportional gain $ K_p $.

template<typename T >
T rl::math::Pid< T >::x

Setpoint.


The documentation for this class was generated from the following file: