File pid.hpp

Author

Vincent Berenz

Copyright

Copyright (c) 2019, New York University and Max Planck Gesellschaft, License BSD-3-Clause

Date

2019-12-09

namespace package_template

Functions

PID &get_default_pid()

convenience factory for getting default controller, i.e.

same as PID(std::shared_ptr<DefaultConfiguration> configuration)

See also

DefaultConfiguration

class PID
#include <pid.hpp>

Simple 1D pid controller.

Public Functions

PID()

Construct a default PID object using the DefaultConfiguration.

PID(const Gains_configuration &configuration)

Construct a new PID object using a user provided configuration.

Parameters:

configuration –

~PID()
double compute(const double position, const double velocity, const double position_target, const double delta_time)

compute the force related to the pid controller.

Warning

this function is not stateless, as it performs integration. Call reset_pid() to reset the integral part.

Parameters:

  • position – current position

  • velocity – current velocity

  • position_target – target position

  • delta_time – time passed since last measurement. Used for integral computation

Returns:

computed force

void reset_integral()

reset integral part of the PID

Private Members

const Gains_configuration *configuration_
bool private_configuration_
double integral_