Math::PIDFeedbackLoop Class Reference

#include <pidfeedbackloop.h>

Detailed Description

A PID feedback loop (proportional integral derivative feedback loop)

Copyright

(C) 2007 RadonLabs GmbH (C) 2013-2020 Individual contributors, see AUTHORS file

Public Member Functions
	PIDFeedbackLoop ()
	constructor
void	SetState (double value)
	set value of loop
void	SetGoal (double wantedValue)
	set the goal
void	SetConstants (double pConst, double iConst, double dConst, double acceleration=0.0)
	set the propotional, integral and derivative constants, and maximum acceleration (how fast the value kann change, will be disabled if set to 0.0 (default))
const double &	GetState () const
	get current value
const double &	GetGoal () const
	get the goal
double	GetLastError () const
	get last computed error
double	GetLastDelta () const
	last delta of error
void	Update (Timing::Time time)
	update current value
void	ResetError ()
	reset running error
void	SetIsAngularValue (bool val)
	set IsAngularValue

Private Attributes
double	value
double	goal
double	pConst
double	iConst
double	dConst
double	maxAcceleration
double	lastError
double	lastDelta
double	runningError
bool	validError
bool	isAngularValue
Timing::Time	lastTime
Timing::Time	lastDeltaTime
Timing::Time	maxAllowableDeltaTime

Constructor & Destructor Documentation

PIDFeedbackLoop()

Math::PIDFeedbackLoop::PIDFeedbackLoop ( )

inline

constructor

Member Function Documentation

GetGoal()

const double & Math::PIDFeedbackLoop::GetGoal ( ) const

inline

get the goal

GetLastDelta()

double Math::PIDFeedbackLoop::GetLastDelta ( ) const

inline

last delta of error

GetLastError()

double Math::PIDFeedbackLoop::GetLastError ( ) const

inline

get last computed error

GetState()

const double & Math::PIDFeedbackLoop::GetState ( ) const

inline

get current value

ResetError()

void Math::PIDFeedbackLoop::ResetError ( )

inline

reset running error

SetConstants()

void Math::PIDFeedbackLoop::SetConstants ( double pConst, double iConst, double dConst, double acceleration = 0.0 )

inline

set the propotional, integral and derivative constants, and maximum acceleration (how fast the value kann change, will be disabled if set to 0.0 (default))

SetGoal()

void Math::PIDFeedbackLoop::SetGoal ( double wantedValue )

inline

set the goal

SetIsAngularValue()

void Math::PIDFeedbackLoop::SetIsAngularValue ( bool val )

inline

set IsAngularValue

SetState()

void Math::PIDFeedbackLoop::SetState ( double value )

inline

set value of loop

Update()

void Math::PIDFeedbackLoop::Update ( Timing::Time time )

inline

update current value

Member Data Documentation

dConst

double Math::PIDFeedbackLoop::dConst

private

goal

double Math::PIDFeedbackLoop::goal

private

iConst

double Math::PIDFeedbackLoop::iConst

private

isAngularValue

bool Math::PIDFeedbackLoop::isAngularValue

private

lastDelta

double Math::PIDFeedbackLoop::lastDelta

private

lastDeltaTime

Timing::Time Math::PIDFeedbackLoop::lastDeltaTime

private

lastError

double Math::PIDFeedbackLoop::lastError

private

lastTime

Timing::Time Math::PIDFeedbackLoop::lastTime

private

maxAcceleration

double Math::PIDFeedbackLoop::maxAcceleration

private

maxAllowableDeltaTime

Timing::Time Math::PIDFeedbackLoop::maxAllowableDeltaTime

private

pConst

double Math::PIDFeedbackLoop::pConst

private

runningError

double Math::PIDFeedbackLoop::runningError

private

validError

bool Math::PIDFeedbackLoop::validError

private

value

double Math::PIDFeedbackLoop::value

private

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

• /github/workspace/code/foundation/math/pidfeedbackloop.h