#include <RobotAPI/components/units/RobotUnit/BasicControllers.h>
Classes | |
| struct | Output |
Public Types | |
| enum | State { Unknown = -1, IncAccIncJerk, IncAccDecJerk, Keep, DecAccIncJerk, DecAccDecJerk, PCtrl } |
Public Member Functions | |
| std::pair< State, Output > | calcState () const |
| double | calculateProportionalGain () const |
| double | estimateTime () const |
| double | getTargetPosition () const |
| PositionThroughVelocityControllerWithAccelerationRamps () | |
| Output | run () |
| void | setTargetPosition (double value) |
| bool | validParameters () const |
Public Attributes | |
| double | acceleration |
| double | accuracy = 0.001 |
| double | currentAcc |
| double | currentPosition |
| double | currentV |
| double | deceleration |
| double | dt |
| double | jerk |
| double | maxDt |
| double | maxV |
| double | p |
| double | pControlPosErrorLimit = 0.01 |
| double | pControlVelLimit |
| State | state = State::Unknown |
| bool | usePIDAtEnd = true |
Protected Attributes | |
| double | targetPosition |
Detailed Description
Definition at line 345 of file BasicControllers.h.
Member Enumeration Documentation
◆ State
|
strong |
| Enumerator | |
|---|---|
| Unknown | |
| IncAccIncJerk | |
| IncAccDecJerk | |
| Keep | |
| DecAccIncJerk | |
| DecAccDecJerk | |
| PCtrl | |
Definition at line 347 of file BasicControllers.h.
Constructor & Destructor Documentation
◆ PositionThroughVelocityControllerWithAccelerationRamps()
Definition at line 977 of file BasicControllers.cpp.
Member Function Documentation
◆ calcState()
| std::pair< PositionThroughVelocityControllerWithAccelerationRamps::State, PositionThroughVelocityControllerWithAccelerationRamps::Output > calcState | ( | ) | const |
Definition at line 1149 of file BasicControllers.cpp.
Here is the call graph for this function: Here is the caller graph for this function:◆ calculateProportionalGain()
| double calculateProportionalGain | ( | ) | const |
◆ estimateTime()
| double estimateTime | ( | ) | const |
Definition at line 1130 of file BasicControllers.cpp.
◆ getTargetPosition()
| double getTargetPosition | ( | ) | const |
Definition at line 955 of file BasicControllers.cpp.
◆ run()
◆ setTargetPosition()
| void setTargetPosition | ( | double | value | ) |
◆ validParameters()
| bool validParameters | ( | ) | const |
Definition at line 982 of file BasicControllers.cpp.
Member Data Documentation
◆ acceleration
| double acceleration |
Definition at line 370 of file BasicControllers.h.
◆ accuracy
| double accuracy = 0.001 |
Definition at line 385 of file BasicControllers.h.
◆ currentAcc
| double currentAcc |
Definition at line 368 of file BasicControllers.h.
◆ currentPosition
| double currentPosition |
Definition at line 373 of file BasicControllers.h.
◆ currentV
| double currentV |
Definition at line 367 of file BasicControllers.h.
◆ deceleration
| double deceleration |
Definition at line 371 of file BasicControllers.h.
◆ dt
| double dt |
Definition at line 365 of file BasicControllers.h.
◆ jerk
| double jerk |
Definition at line 372 of file BasicControllers.h.
◆ maxDt
| double maxDt |
Definition at line 366 of file BasicControllers.h.
◆ maxV
| double maxV |
Definition at line 369 of file BasicControllers.h.
◆ p
| double p |
Definition at line 386 of file BasicControllers.h.
◆ pControlPosErrorLimit
| double pControlPosErrorLimit = 0.01 |
Definition at line 382 of file BasicControllers.h.
◆ pControlVelLimit
| double pControlVelLimit |
Definition at line 383 of file BasicControllers.h.
◆ state
|
mutable |
Definition at line 388 of file BasicControllers.h.
◆ targetPosition
|
protected |
Definition at line 376 of file BasicControllers.h.
◆ usePIDAtEnd
| bool usePIDAtEnd = true |
Definition at line 387 of file BasicControllers.h.
The documentation for this struct was generated from the following files:
- RobotAPI/components/units/RobotUnit/BasicControllers.h
- RobotAPI/components/units/RobotUnit/BasicControllers.cpp
