sot-talos-balance  1.6.0
SimplePID Class Reference

#include <sot/talos_balance/simple-pid.hh>

Inheritance diagram for SimplePID:
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Collaboration diagram for SimplePID:
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Public Member Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW SimplePID (const std::string &name)
 
 DECLARE_SIGNAL_IN (Kp, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_IN (Ki, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_IN (decayFactor, double)
 
 DECLARE_SIGNAL_IN (x, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_IN (x_des, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_IN (dx_des, dynamicgraph::Vector)
 
 DECLARE_SIGNAL_OUT (dx_ref, dynamicgraph::Vector)
 
virtual void display (std::ostream &os) const
 
void init (const double &dt, const int &N)
 
void resetIntegralError ()
 

Protected Attributes

double m_dt
 
bool m_initSucceeded
 
dynamicgraph::Vector m_integralError
 true if the entity has been successfully initialized More...
 

Detailed Description

Definition at line 51 of file simple-pid.hh.

Constructor & Destructor Documentation

◆ SimplePID()

SimplePID ( const std::string &  name)

Member Function Documentation

◆ DECLARE_SIGNAL_IN() [1/6]

DECLARE_SIGNAL_IN ( Kp  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_IN() [2/6]

DECLARE_SIGNAL_IN ( Ki  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_IN() [3/6]

DECLARE_SIGNAL_IN ( decayFactor  ,
double   
)

◆ DECLARE_SIGNAL_IN() [4/6]

DECLARE_SIGNAL_IN ( ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_IN() [5/6]

DECLARE_SIGNAL_IN ( x_des  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_IN() [6/6]

DECLARE_SIGNAL_IN ( dx_des  ,
dynamicgraph::Vector   
)

◆ DECLARE_SIGNAL_OUT()

DECLARE_SIGNAL_OUT ( dx_ref  ,
dynamicgraph::Vector   
)

◆ display()

void display ( std::ostream &  os) const
virtual

Definition at line 128 of file simple-pid.cpp.

◆ init()

void init ( const double &  dt,
const int &  N 
)

◆ resetIntegralError()

void resetIntegralError ( )

Definition at line 79 of file simple-pid.cpp.

References SimplePID::m_integralError.

Referenced by SimplePID::SimplePID().

Member Data Documentation

◆ m_dt

double m_dt
protected

◆ m_initSucceeded

bool m_initSucceeded
protected

◆ m_integralError

dynamicgraph::Vector m_integralError
protected

true if the entity has been successfully initialized

Definition at line 85 of file simple-pid.hh.

Referenced by dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION(), SimplePID::init(), and SimplePID::resetIntegralError().


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