#include <RobotAPI/libraries/core/MultiDimPIDController.h>

Inheritance diagram for MultiDimPIDControllerTemplate< dimensions >:

Public Types
using	PIDVectorX = Eigen::Matrix<float, dimensions, 1>

Public Member Functions
const PIDVectorX &	getControlValue () const

	MultiDimPIDControllerTemplate (float Kp, float Ki, float Kd, double maxControlValue=std::numeric_limits< double >::max(), double maxDerivation=std::numeric_limits< double >::max(), bool threadSafe=true, std::vector< bool > limitless={})

void	preallocate (size_t size)

void	reset ()

void	setMaxControlValue (double value)

void	update (const double deltaSec, const PIDVectorX &measuredValue, const PIDVectorX &targetValue)

void	update (const PIDVectorX &measuredValue, const PIDVectorX &targetValue)

	~MultiDimPIDControllerTemplate ()

Public Member Functions inherited from Logging
SpamFilterDataPtr	deactivateSpam (float deactivationDurationSec=10.0f, const std::string &identifier="", bool deactivate=true) const
	disables the logging for the current line for the given amount of seconds.

MessageTypeT	getEffectiveLoggingLevel () const

	Logging ()

void	setLocalMinimumLoggingLevel (MessageTypeT level)
	With setLocalMinimumLoggingLevel the minimum verbosity-level of log-messages can be set.

void	setTag (const LogTag &tag)

void	setTag (const std::string &tagName)

virtual	~Logging ()

Public Attributes
PIDVectorX	controlValue

double	derivative

bool	firstRun

double	integral

float	Kd

float	Ki

float	Kp

IceUtil::Time	lastUpdateTime

std::vector< bool >	limitless

double	maxControlValue

double	maxDerivation

double	maxIntegral = std::numeric_limits<double>::max()

std::recursive_mutex	mutex

double	previousError

PIDVectorX	processValue

PIDVectorX	target

bool	threadSafe = true

Additional Inherited Members
Protected Member Functions inherited from Logging
bool	checkLogLevel (MessageTypeT level) const

const LogSenderPtr &	getLogSender () const
	Retrieve log sender.

LogSenderPtr	loghelper (const char file, int line, const char function) const

Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

Detailed Description

template<int dimensions = Eigen::Dynamic>
class armarx::MultiDimPIDControllerTemplate< dimensions >

Definition at line 39 of file MultiDimPIDController.h.

Member Typedef Documentation

◆ PIDVectorX

template<int dimensions = Eigen::Dynamic>

using PIDVectorX = Eigen::Matrix<float, dimensions, 1>

Definition at line 42 of file MultiDimPIDController.h.

Constructor & Destructor Documentation

◆ MultiDimPIDControllerTemplate()

template<int dimensions = Eigen::Dynamic>

MultiDimPIDControllerTemplate	(	float	Kp,
		float	Ki,
		float	Kd,
		double	maxControlValue = std::numeric_limits<double>::max(),
		double	maxDerivation = std::numeric_limits<double>::max(),
		bool	threadSafe = true,
		std::vector< bool >	limitless = {} )

inline

Definition at line 44 of file MultiDimPIDController.h.

◆ ~MultiDimPIDControllerTemplate()

template<int dimensions = Eigen::Dynamic>

~MultiDimPIDControllerTemplate ( )

inline

Definition at line 74 of file MultiDimPIDController.h.

Member Function Documentation

◆ getControlValue()

template<int dimensions = Eigen::Dynamic>

const PIDVectorX & getControlValue ( ) const

inline

Definition at line 201 of file MultiDimPIDController.h.

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◆ preallocate()

template<int dimensions = Eigen::Dynamic>

void preallocate ( size_t size )

inline

Definition at line 66 of file MultiDimPIDController.h.

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◆ reset()

template<int dimensions = Eigen::Dynamic>

void reset ( )

inline

Definition at line 214 of file MultiDimPIDController.h.

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◆ setMaxControlValue()

template<int dimensions = Eigen::Dynamic>

void setMaxControlValue ( double value )

inline

Definition at line 207 of file MultiDimPIDController.h.

◆ update() [1/2]

template<int dimensions = Eigen::Dynamic>

void update	(	const double	deltaSec,
		const PIDVectorX &	measuredValue,
		const PIDVectorX &	targetValue )

inline

Definition at line 79 of file MultiDimPIDController.h.

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◆ update() [2/2]

template<int dimensions = Eigen::Dynamic>

void update	(	const PIDVectorX &	measuredValue,
		const PIDVectorX &	targetValue )

inline

Definition at line 185 of file MultiDimPIDController.h.

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Member Data Documentation

◆ controlValue

template<int dimensions = Eigen::Dynamic>

PIDVectorX controlValue

Definition at line 236 of file MultiDimPIDController.h.

◆ derivative

template<int dimensions = Eigen::Dynamic>

double derivative

Definition at line 231 of file MultiDimPIDController.h.

◆ firstRun

template<int dimensions = Eigen::Dynamic>

bool firstRun

Definition at line 239 of file MultiDimPIDController.h.

◆ integral

template<int dimensions = Eigen::Dynamic>

double integral

Definition at line 229 of file MultiDimPIDController.h.

◆ Kd

template<int dimensions = Eigen::Dynamic>

float Kd

Definition at line 228 of file MultiDimPIDController.h.

◆ Ki

template<int dimensions = Eigen::Dynamic>

float Ki

Definition at line 228 of file MultiDimPIDController.h.

◆ Kp

template<int dimensions = Eigen::Dynamic>

float Kp

Definition at line 228 of file MultiDimPIDController.h.

◆ lastUpdateTime

template<int dimensions = Eigen::Dynamic>

IceUtil::Time lastUpdateTime

Definition at line 235 of file MultiDimPIDController.h.

◆ limitless

template<int dimensions = Eigen::Dynamic>

std::vector<bool> limitless

Definition at line 242 of file MultiDimPIDController.h.

◆ maxControlValue

template<int dimensions = Eigen::Dynamic>

double maxControlValue

Definition at line 237 of file MultiDimPIDController.h.

◆ maxDerivation

template<int dimensions = Eigen::Dynamic>

double maxDerivation

Definition at line 238 of file MultiDimPIDController.h.

◆ maxIntegral

template<int dimensions = Eigen::Dynamic>

double maxIntegral = std::numeric_limits<double>::max()

Definition at line 230 of file MultiDimPIDController.h.

◆ mutex

template<int dimensions = Eigen::Dynamic>

std::recursive_mutex mutex

mutable

Definition at line 240 of file MultiDimPIDController.h.

◆ previousError

template<int dimensions = Eigen::Dynamic>

double previousError

Definition at line 232 of file MultiDimPIDController.h.

◆ processValue

template<int dimensions = Eigen::Dynamic>

PIDVectorX processValue

Definition at line 233 of file MultiDimPIDController.h.

◆ target

template<int dimensions = Eigen::Dynamic>

PIDVectorX target

Definition at line 234 of file MultiDimPIDController.h.

◆ threadSafe

template<int dimensions = Eigen::Dynamic>

bool threadSafe = true

Definition at line 241 of file MultiDimPIDController.h.

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

RobotAPI/libraries/core/MultiDimPIDController.h

Public Types

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ PIDVectorX

Constructor & Destructor Documentation

◆ MultiDimPIDControllerTemplate()

◆ ~MultiDimPIDControllerTemplate()

Member Function Documentation

◆ getControlValue()

◆ preallocate()

◆ reset()

◆ setMaxControlValue()

◆ update() [1/2]

◆ update() [2/2]

Member Data Documentation

◆ controlValue

◆ derivative

◆ firstRun

◆ integral

◆ Kd

◆ Ki

◆ Kp

◆ lastUpdateTime

◆ limitless

◆ maxControlValue

◆ maxDerivation

◆ maxIntegral

◆ mutex

◆ previousError

◆ processValue

◆ target

◆ threadSafe