armarx_documentation: MultiDimPIDControllerTemplate< dimensions > Class Template Reference

#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

Member Typedef Documentation

◆ PIDVectorX

template<int dimensions = Eigen::Dynamic>

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

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

◆ ~MultiDimPIDControllerTemplate()

template<int dimensions = Eigen::Dynamic>

~MultiDimPIDControllerTemplate ( )

inline

Member Function Documentation

◆ getControlValue()

template<int dimensions = Eigen::Dynamic>

const PIDVectorX & getControlValue ( ) const

inline

◆ preallocate()

template<int dimensions = Eigen::Dynamic>

void preallocate ( size_t size )

inline

◆ reset()

template<int dimensions = Eigen::Dynamic>

void reset ( )

inline

◆ setMaxControlValue()

template<int dimensions = Eigen::Dynamic>

void setMaxControlValue ( double value )

inline

◆ update() [1/2]

template<int dimensions = Eigen::Dynamic>

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

inline

◆ update() [2/2]

template<int dimensions = Eigen::Dynamic>

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

inline

Member Data Documentation

◆ controlValue

template<int dimensions = Eigen::Dynamic>

PIDVectorX controlValue

◆ derivative

template<int dimensions = Eigen::Dynamic>

double derivative

◆ firstRun

template<int dimensions = Eigen::Dynamic>

bool firstRun

◆ integral

template<int dimensions = Eigen::Dynamic>

double integral

◆ Kd

template<int dimensions = Eigen::Dynamic>

◆ Ki

template<int dimensions = Eigen::Dynamic>

◆ Kp

template<int dimensions = Eigen::Dynamic>

◆ lastUpdateTime

template<int dimensions = Eigen::Dynamic>

IceUtil::Time lastUpdateTime

◆ limitless

template<int dimensions = Eigen::Dynamic>

std::vector<bool> limitless

◆ maxControlValue

template<int dimensions = Eigen::Dynamic>

double maxControlValue

◆ maxDerivation

template<int dimensions = Eigen::Dynamic>

double maxDerivation

◆ maxIntegral

template<int dimensions = Eigen::Dynamic>

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

◆ mutex

template<int dimensions = Eigen::Dynamic>

std::recursive_mutex mutex

mutable

◆ previousError

template<int dimensions = Eigen::Dynamic>

double previousError

◆ processValue

template<int dimensions = Eigen::Dynamic>

PIDVectorX processValue

◆ target

template<int dimensions = Eigen::Dynamic>

PIDVectorX target

◆ threadSafe

template<int dimensions = Eigen::Dynamic>

bool threadSafe = true

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

RobotAPI/libraries/core/MultiDimPIDController.h