lobot::PID< T > Class Template Reference

Simple implementation of a PID controller. More...

#include <Robots/LoBot/misc/LoPID.H>

Collaboration diagram for lobot::PID< T >:

[legend]

List of all members.

Public Member Functions
T	cmd (const T &error)
void	reset ()
	~PID ()
	Clean-up.
void	p_gain (const T &g)
	Re/setting the gains.
void	i_gain (const T &g)
void	d_gain (const T &g)
void	gains (const T &p, const T &i, const T &d)
void	gains (const triple< T, T, T > &g)
T	p_gain () const
	Retrieving the current gains.
T	i_gain () const
T	d_gain () const
triple< T, T, T >	gains () const
	PID (const T &p_gain=T(0), const T &i_gain=T(0), const T &d_gain=T(0))
	Initialization. Clients should supply the gains to be used.
	PID (const triple< T, T, T > &gains)

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Detailed Description

template<typename T>
class lobot::PID< T >

Simple implementation of a PID controller.

This class implements a generic PID controller that doesn't really know anything about the control variable. Rather, it simply computes a command given the current error by keeping track of the P, I and D components of a PID controller.

This class is defined as a template. However, it is really meant to be used only with numeric types.

Definition at line 71 of file LoPID.H.

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Constructor & Destructor Documentation

template<typename T>

PID< T >::PID	(	const T &	p_gain = T(0),
		const T &	i_gain = T(0),
		const T &	d_gain = T(0)
	)			[inline]

Initialization. Clients should supply the gains to be used.

Definition at line 136 of file LoPID.H.

template<typename T >

PID< T >::~PID

(

)

[inline]

Clean-up.

Definition at line 166 of file LoPID.H.

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Member Function Documentation

template<typename T>

T PID< T >::cmd

(

const T &

error

)

[inline]

This method returns the command to be applied given the current error.

Definition at line 152 of file LoPID.H.

template<typename T>

T lobot::PID< T >::p_gain

(

)

const [inline]

Retrieving the current gains.

Definition at line 107 of file LoPID.H.

template<typename T>

void lobot::PID< T >::p_gain

(

const T &

g

)

[inline]

Re/setting the gains.

Definition at line 94 of file LoPID.H.

template<typename T>

void lobot::PID< T >::reset

(

)

[inline]

Sometimes, clients may find it necessary to reset the controller and start over again.

Definition at line 127 of file LoPID.H.

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

• src/Robots/LoBot/misc/LoPID.H