#include <sot/talos_balance/simple-pid.hh>
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... | |
Definition at line 51 of file simple-pid.hh.
SimplePID | ( | const std::string & | name | ) |
Definition at line 54 of file simple-pid.cpp.
References SimplePID::init(), INPUT_SIGNALS, OUTPUT_SIGNALS, and SimplePID::resetIntegralError().
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 |
Definition at line 128 of file simple-pid.cpp.
void init | ( | const double & | dt, |
const int & | N | ||
) |
Definition at line 72 of file simple-pid.cpp.
References SimplePID::m_dt, SimplePID::m_initSucceeded, and SimplePID::m_integralError.
Referenced by SimplePID::SimplePID().
void resetIntegralError | ( | ) |
Definition at line 79 of file simple-pid.cpp.
References SimplePID::m_integralError.
Referenced by SimplePID::SimplePID().
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protected |
Definition at line 86 of file simple-pid.hh.
Referenced by dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION(), and SimplePID::init().
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protected |
Definition at line 84 of file simple-pid.hh.
Referenced by dynamicgraph::sot::talos_balance::DEFINE_SIGNAL_OUT_FUNCTION(), and SimplePID::init().
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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().