Robotics Library
0.6.0
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#include <Pid.h>
Public Member Functions | |
Pid () | |
virtual | ~Pid () |
T | operator() (const T &x, const Real &dt) |
void | reset () |
Public Attributes | |
T | kd |
T | ki |
T | kp |
T | x |
Private Attributes | |
T | e |
T | i |
Proportional-Integral-Derivative controller.
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inline |
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inlinevirtual |
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inline |
dt | ![]() |
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inline |
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private |
Previous error.
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private |
Integral output .
T rl::math::Pid< T >::kd |
Derivative gain .
T rl::math::Pid< T >::ki |
Integral gain .
T rl::math::Pid< T >::kp |
Proportional gain .
T rl::math::Pid< T >::x |
Setpoint.