List of all members | Public Types | Public Member Functions
PDController< FType > Class Template Reference

#include <RobotAPI/components/units/RobotUnit/PDController.h>

Public Types

using FloatingType = FType
 

Public Member Functions

FloatingType getD () const
 
FloatingType getHiOutLimit () const
 
std::uint64_t getIterationCount () const
 
FloatingType getLastInValue () const
 
FloatingType getLastOutInterpolationFactor () const
 
FloatingType getLastOutValue () const
 
FloatingType getLastTarget () const
 
FloatingType getLoOutLimit () const
 
FloatingType getMaxError () const
 
FloatingType getOutRampDelta () const
 
FloatingType getP () const
 
FloatingType getTargetRadius () const
 
void limitOut (FloatingType min, FloatingType max)
 set limits for the output value More...
 
void limitOut (FloatingType out)
 set limits for the output value (lo and hi limits are set to the same value) More...
 
 PDController (FloatingType p=0, FloatingType d=0)
 
void reset ()
 reset phe controller More...
 
void setD (FloatingType d)
 
void setLastOutInterpolation (FloatingType lastOutFactor)
 
void setMaxError (FloatingType error)
 
void setOutRampDelta (FloatingType delta)
 
void setP (FloatingType p)
 
void setTargetRadius (FloatingType radius)
 
FloatingType update ()
 update the controller using the last input and target value More...
 
FloatingType update (FloatingType inValue)
 update the controller using the last target value More...
 
FloatingType update (FloatingType inValue, FloatingType target)
 update the controller More...
 

Detailed Description

template<class FType>
class armarx::PDController< FType >

Definition at line 30 of file PDController.h.

Member Typedef Documentation

◆ FloatingType

using FloatingType = FType

Definition at line 33 of file PDController.h.

Constructor & Destructor Documentation

◆ PDController()

PDController ( FloatingType  p = 0,
FloatingType  d = 0 
)
inline

Definition at line 35 of file PDController.h.

Member Function Documentation

◆ getD()

FType getD
inline
See also
Kd

Definition at line 183 of file PDController.h.

◆ getHiOutLimit()

FType getHiOutLimit
inline
See also
limitOutHi

Definition at line 211 of file PDController.h.

◆ getIterationCount()

uint64_t getIterationCount
inline
See also
iterationCount

Definition at line 301 of file PDController.h.

◆ getLastInValue()

FType getLastInValue
inline
See also
lastInValue

Definition at line 287 of file PDController.h.

◆ getLastOutInterpolationFactor()

FType getLastOutInterpolationFactor
inline
See also
lastOutInterpolation

Definition at line 272 of file PDController.h.

◆ getLastOutValue()

FType getLastOutValue
inline
See also
lastOut

Definition at line 294 of file PDController.h.

◆ getLastTarget()

FType getLastTarget
inline
See also
lastTarget

Definition at line 280 of file PDController.h.

◆ getLoOutLimit()

FType getLoOutLimit
inline
See also
limitOutLo

Definition at line 204 of file PDController.h.

◆ getMaxError()

FType getMaxError
inline
See also
maxError

Definition at line 239 of file PDController.h.

◆ getOutRampDelta()

FType getOutRampDelta
inline
See also
outRampDelta

Definition at line 225 of file PDController.h.

◆ getP()

FType getP
inline
See also
Kp

Definition at line 169 of file PDController.h.

◆ getTargetRadius()

FType getTargetRadius
inline
See also
targetRadius

Definition at line 253 of file PDController.h.

◆ limitOut() [1/2]

void limitOut ( FloatingType  min,
FloatingType  max 
)
inline

set limits for the output value

See also
limitOutHi
limitOutLo

Definition at line 197 of file PDController.h.

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◆ limitOut() [2/2]

void limitOut ( FloatingType  out)
inline

set limits for the output value (lo and hi limits are set to the same value)

See also
limitOutHi
limitOutLo

Definition at line 190 of file PDController.h.

◆ reset()

void reset
inline

reset phe controller

Definition at line 309 of file PDController.h.

◆ setD()

void setD ( FloatingType  d)
inline
See also
Kd

Definition at line 176 of file PDController.h.

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◆ setLastOutInterpolation()

void setLastOutInterpolation ( FloatingType  lastOutFactor)
inline
See also
lastOutInterpolation

Definition at line 260 of file PDController.h.

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◆ setMaxError()

void setMaxError ( FloatingType  error)
inline
See also
maxError

Definition at line 232 of file PDController.h.

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◆ setOutRampDelta()

void setOutRampDelta ( FloatingType  delta)
inline
See also
outRampDelta

Definition at line 218 of file PDController.h.

◆ setP()

void setP ( FloatingType  p)
inline
See also
Kp

Definition at line 162 of file PDController.h.

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◆ setTargetRadius()

void setTargetRadius ( FloatingType  radius)
inline
See also
targetRadius

Definition at line 246 of file PDController.h.

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◆ update() [1/3]

FType update
inline

update the controller using the last input and target value

Returns
the output value for this control iteration

Definition at line 316 of file PDController.h.

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◆ update() [2/3]

FType update ( FloatingType  inValue)
inline

update the controller using the last target value

Parameters
inValuethe current input value
Returns
the output value for this control iteration

Definition at line 323 of file PDController.h.

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◆ update() [3/3]

FType update ( FloatingType  inValue,
FloatingType  target 
)
inline

update the controller

Parameters
inValuethe current input value
targetthe controller target
Returns
the output value for this control iteration

Definition at line 330 of file PDController.h.

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