autoware::motion::control::trajectory_follower::PIDController Class Reference

implementation of a PID controller More...

#include <pid.hpp>

Public Member Functions
	PIDController ()
float64_t	calculate (const float64_t error, const float64_t dt, const bool8_t is_integrated, std::vector< float64_t > &pid_contributions)
	calculate the output of this PID More...
void	setGains (const float64_t kp, const float64_t ki, const float64_t kd)
	set the coefficients for the P (proportional) I (integral) D (derivative) terms More...
void	setLimits (const float64_t max_ret, const float64_t min_ret, const float64_t max_ret_p, const float64_t min_ret_p, const float64_t max_ret_i, const float64_t min_ret_i, const float64_t max_ret_d, const float64_t min_ret_d)
	set limits on the total, proportional, integral, and derivative components More...
void	reset ()
	reset this PID to its initial state More...

Detailed Description

implementation of a PID controller

Constructor & Destructor Documentation

PIDController()

autoware::motion::control::trajectory_follower::PIDController::PIDController

(

)

Member Function Documentation

calculate()

float64_t autoware::motion::control::trajectory_follower::PIDController::calculate	(	const float64_t	error,
		const float64_t	dt,
		const bool8_t	is_integrated,
		std::vector< float64_t > &	pid_contributions
	)

calculate the output of this PID

Parameters

[in]	error	previous error
[in]	dt	time step [s]
[in]	is_integrated	if true, will use the integral component for calculation
[out]	pid_contributions	values of the proportional, integral, and derivative components

Returns

PID output

Exceptions

std::runtime_error

if gains or limits have not been set

reset()

void autoware::motion::control::trajectory_follower::PIDController::reset

(

)

reset this PID to its initial state

setGains()

void autoware::motion::control::trajectory_follower::PIDController::setGains	(	const float64_t	kp,
		const float64_t	ki,
		const float64_t	kd
	)

set the coefficients for the P (proportional) I (integral) D (derivative) terms

Parameters

[in]	kp	proportional coefficient
[in]	ki	integral coefficient
[in]	kd	derivative coefficient

setLimits()

void autoware::motion::control::trajectory_follower::PIDController::setLimits	(	const float64_t	max_ret,
		const float64_t	min_ret,
		const float64_t	max_ret_p,
		const float64_t	min_ret_p,
		const float64_t	max_ret_i,
		const float64_t	min_ret_i,
		const float64_t	max_ret_d,
		const float64_t	min_ret_d
	)

set limits on the total, proportional, integral, and derivative components

Parameters

[in]	max_ret	maximum return value of this PID
[in]	min_ret	minimum return value of this PID
[in]	max_ret_p	maximum value of the proportional component
[in]	min_ret_p	minimum value of the proportional component
[in]	max_ret_i	maximum value of the integral component
[in]	min_ret_i	minimum value of the integral component
[in]	max_ret_d	maximum value of the derivative component
[in]	min_ret_d	minimum value of the derivative component

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

• pid.hpp
• pid.cpp