pid.hpp

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// Copyright 2018-2021 Tier IV, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef TRAJECTORY_FOLLOWER__PID_HPP_
#define TRAJECTORY_FOLLOWER__PID_HPP_
 
#include <vector>
 
#include "common/types.hpp"
#include "trajectory_follower/visibility_control.hpp"
 
namespace autoware
{
namespace motion
{
namespace control
{
namespace trajectory_follower
{
using autoware::common::types::float64_t;
using autoware::common::types::bool8_t;
class TRAJECTORY_FOLLOWER_PUBLIC PIDController
{
public:
  PIDController();
 
  float64_t calculate(
    const float64_t error, const float64_t dt, const bool8_t is_integrated,
    std::vector<float64_t> & pid_contributions);
  void setGains(const float64_t kp, const float64_t ki, const float64_t kd);
  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);
  void reset();
 
private:
  // PID parameters
  struct Params
  {
    float64_t kp;
    float64_t ki;
    float64_t kd;
    float64_t max_ret_p;
    float64_t min_ret_p;
    float64_t max_ret_i;
    float64_t min_ret_i;
    float64_t max_ret_d;
    float64_t min_ret_d;
    float64_t max_ret;
    float64_t min_ret;
  };
  Params m_params;
 
  // state variables
  float64_t m_error_integral;
  float64_t m_prev_error;
  bool8_t m_is_first_time;
  bool8_t m_is_gains_set;
  bool8_t m_is_limits_set;
};
}  // namespace trajectory_follower
}  // namespace control
}  // namespace motion
}  // namespace autoware
 
#endif  // TRAJECTORY_FOLLOWER__PID_HPP_