PIDController Class Reference

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

Inheritance diagram for PIDController:

Public Member Functions
double	getControlValue () const
PIDController &	operator= (const PIDController &o)
PIDController &	operator= (PIDController &&o)
	PIDController ()=default
	PIDController (const PIDController &o)
	PIDController (float Kp, float Ki, float Kd, double maxControlValue=std::numeric_limits< double >::max(), double maxDerivation=std::numeric_limits< double >::max(), bool limitless=false, bool threadSafe=true)
	PIDController (PIDController &&o)
void	reset ()
void	setMaxControlValue (double newMax)
void	setTarget (double newTarget)
void	update (double deltaSec, double measuredValue, double targetValue)
void	update (double measuredValue)
void	update (double measuredValue, double targetValue)
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
double	conditionalIntegralErrorTreshold = std::numeric_limits<double>::max()
double	controlValue
double	controlValueDerivation
double	derivative
std::shared_ptr< rtfilters::RTFilterBase >	differentialFilter
bool	firstRun
double	integral
float	Kd = 0
float	Ki = 0
float	Kp = 0
IceUtil::Time	lastUpdateTime
bool	limitless
double	maxControlValue
double	maxDerivation
double	maxIntegral = std::numeric_limits<double>::max()
std::shared_ptr< rtfilters::RTFilterBase >	pdOutputFilter
double	previousError
double	processValue
double	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

Constructor & Destructor Documentation

PIDController() [1/4]

PIDController ( )

default

PIDController() [2/4]

PIDController

(

PIDController &&

o

)

PIDController() [3/4]

PIDController

(

const PIDController &

o

)

PIDController() [4/4]

PIDController	(	float	Kp,
		float	Ki,
		float	Kd,
		double	maxControlValue = std::numeric_limits<double>::max(),
		double	maxDerivation = std::numeric_limits<double>::max(),
		bool	limitless = false,
		bool	threadSafe = true )

Member Function Documentation

getControlValue()

double getControlValue

(

)

const

operator=() [1/2]

PIDController & operator=

(

const PIDController &

o

)

operator=() [2/2]

PIDController & operator=

(

PIDController &&

o

)

reset()

void reset

(

)

setMaxControlValue()

void setMaxControlValue

(

double

newMax

)

setTarget()

void setTarget

(

double

newTarget

)

update() [1/3]

void update	(	double	deltaSec,
		double	measuredValue,
		double	targetValue )

update() [2/3]

void update

(

double

measuredValue

)

update() [3/3]

void update	(	double	measuredValue,
		double	targetValue )

Member Data Documentation

conditionalIntegralErrorTreshold

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

controlValue

double controlValue

controlValueDerivation

double controlValueDerivation

derivative

double derivative

differentialFilter

std::shared_ptr<rtfilters::RTFilterBase> differentialFilter

firstRun

bool firstRun

integral

double integral

Kd

float Kd = 0

Ki

float Ki = 0

Kp

float Kp = 0

lastUpdateTime

IceUtil::Time lastUpdateTime

limitless

bool limitless

maxControlValue

double maxControlValue

maxDerivation

double maxDerivation

maxIntegral

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

pdOutputFilter

std::shared_ptr<rtfilters::RTFilterBase> pdOutputFilter

previousError

double previousError

processValue

double processValue

target

double target

threadSafe

bool threadSafe = true

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

• RobotAPI/libraries/core/PIDController.h
• RobotAPI/libraries/core/PIDController.cpp