#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

void	limitOut (FloatingType out)
	set limits for the output value (lo and hi limits are set to the same value)

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

void	reset ()
	reset phe controller

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

FloatingType	update (FloatingType inValue)
	update the controller using the last target value

FloatingType	update (FloatingType inValue, FloatingType target)
	update the controller

Detailed Description

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

Definition at line 30 of file PDController.h.

Member Typedef Documentation

◆ FloatingType

template<class FType>

using FloatingType = FType

Definition at line 33 of file PDController.h.

Constructor & Destructor Documentation

◆ PDController()

template<class FType>

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

inline

Definition at line 35 of file PDController.h.

Member Function Documentation

◆ getD()

template<class FType>

FType getD ( ) const

inline

See also: Kd

Definition at line 183 of file PDController.h.

◆ getHiOutLimit()

template<class FType>

FType getHiOutLimit ( ) const

inline

See also: limitOutHi

Definition at line 211 of file PDController.h.

◆ getIterationCount()

template<class FType>

uint64_t getIterationCount ( ) const

inline

See also: iterationCount

Definition at line 301 of file PDController.h.

◆ getLastInValue()

template<class FType>

FType getLastInValue ( ) const

inline

See also: lastInValue

Definition at line 287 of file PDController.h.

◆ getLastOutInterpolationFactor()

template<class FType>

FType getLastOutInterpolationFactor ( ) const

inline

See also: lastOutInterpolation

Definition at line 272 of file PDController.h.

◆ getLastOutValue()

template<class FType>

FType getLastOutValue ( ) const

inline

See also: lastOut

Definition at line 294 of file PDController.h.

◆ getLastTarget()

template<class FType>

FType getLastTarget ( ) const

inline

See also: lastTarget

Definition at line 280 of file PDController.h.

◆ getLoOutLimit()

template<class FType>

FType getLoOutLimit ( ) const

inline

See also: limitOutLo

Definition at line 204 of file PDController.h.

◆ getMaxError()

template<class FType>

FType getMaxError ( ) const

inline

See also: maxError

Definition at line 239 of file PDController.h.

◆ getOutRampDelta()

template<class FType>

FType getOutRampDelta ( ) const

inline

See also: outRampDelta

Definition at line 225 of file PDController.h.

◆ getP()

template<class FType>

FType getP ( ) const

inline

See also: Kp

Definition at line 169 of file PDController.h.

◆ getTargetRadius()

template<class FType>

FType getTargetRadius ( ) const

inline

See also: targetRadius

Definition at line 253 of file PDController.h.

◆ limitOut() [1/2]

template<class FType>

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]

template<class FType>

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.

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◆ reset()

template<class FType>

void reset ( )

inline

reset phe controller

Definition at line 309 of file PDController.h.

◆ setD()

template<class FType>

void setD ( FloatingType d )

inline

See also: Kd

Definition at line 176 of file PDController.h.

◆ setLastOutInterpolation()

template<class FType>

void setLastOutInterpolation ( FloatingType lastOutFactor )

inline

See also: lastOutInterpolation

Definition at line 260 of file PDController.h.

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◆ setMaxError()

template<class FType>

void setMaxError ( FloatingType error )

inline

See also: maxError

Definition at line 232 of file PDController.h.

◆ setOutRampDelta()

template<class FType>

void setOutRampDelta ( FloatingType delta )

inline

See also: outRampDelta

Definition at line 218 of file PDController.h.

◆ setP()

template<class FType>

void setP ( FloatingType p )

inline

See also: Kp

Definition at line 162 of file PDController.h.

◆ setTargetRadius()

template<class FType>

void setTargetRadius ( FloatingType radius )

inline

See also: targetRadius

Definition at line 246 of file PDController.h.

◆ update() [1/3]

template<class FType>

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]

template<class FType>

FType update ( FloatingType inValue )

inline

update the controller using the last target value

Parameters

inValue the 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]

template<class FType>

FType update	(	FloatingType	inValue,
		FloatingType	target )

inline

update the controller

Parameters

inValue	the current input value
target	the 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:

RobotAPI/components/units/RobotUnit/PDController.h

Public Types

Public Member Functions

Detailed Description

Member Typedef Documentation

◆ FloatingType

Constructor & Destructor Documentation

◆ PDController()

Member Function Documentation

◆ getD()

◆ getHiOutLimit()

◆ getIterationCount()

◆ getLastInValue()

◆ getLastOutInterpolationFactor()

◆ getLastOutValue()

◆ getLastTarget()

◆ getLoOutLimit()

◆ getMaxError()

◆ getOutRampDelta()

◆ getP()

◆ getTargetRadius()

◆ limitOut() [1/2]

◆ limitOut() [2/2]

◆ reset()

◆ setD()

◆ setLastOutInterpolation()

◆ setMaxError()

◆ setOutRampDelta()

◆ setP()

◆ setTargetRadius()

◆ update() [1/3]

◆ update() [2/3]

◆ update() [3/3]