PID.H

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00001 /*!@file Controllers/PID.H Basic PID for the BeoSub */
00002 
00003 // //////////////////////////////////////////////////////////////////// //
00004 // The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2000-2003   //
00005 // by the University of Southern California (USC) and the iLab at USC.  //
00006 // See http://iLab.usc.edu for information about this project.          //
00007 // //////////////////////////////////////////////////////////////////// //
00008 // Major portions of the iLab Neuromorphic Vision Toolkit are protected //
00009 // under the U.S. patent ``Computation of Intrinsic Perceptual Saliency //
00010 // in Visual Environments, and Applications'' by Christof Koch and      //
00011 // Laurent Itti, California Institute of Technology, 2001 (patent       //
00012 // pending; application number 09/912,225 filed July 23, 2001; see      //
00013 // http://pair.uspto.gov/cgi-bin/final/home.pl for current status).     //
00014 // //////////////////////////////////////////////////////////////////// //
00015 // This file is part of the iLab Neuromorphic Vision C++ Toolkit.       //
00016 //                                                                      //
00017 // The iLab Neuromorphic Vision C++ Toolkit is free software; you can   //
00018 // redistribute it and/or modify it under the terms of the GNU General  //
00019 // Public License as published by the Free Software Foundation; either  //
00020 // version 2 of the License, or (at your option) any later version.     //
00021 //                                                                      //
00022 // The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope  //
00023 // that it will be useful, but WITHOUT ANY WARRANTY; without even the   //
00024 // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR      //
00025 // PURPOSE.  See the GNU General Public License for more details.       //
00026 //                                                                      //
00027 // You should have received a copy of the GNU General Public License    //
00028 // along with the iLab Neuromorphic Vision C++ Toolkit; if not, write   //
00029 // to the Free Software Foundation, Inc., 59 Temple Place, Suite 330,   //
00030 // Boston, MA 02111-1307 USA.                                           //
00031 // //////////////////////////////////////////////////////////////////// //
00032 //
00033 // Primary maintainer for this file: Laurent Itti <itti@usc.edu>
00034 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/Controllers/PID.H $
00035 // $Id: PID.H 11516 2009-07-24 01:47:16Z lior $
00036 //
00037 
00038 #ifndef PID_H_DEFINED
00039 #define PID_H_DEFINED
00040 
00041 #include "Util/Angle.H"
00042 
00043 //! Definition and access functions for a BeoSub PID
00044 template <class T> class PID
00045 {
00046 public:
00047 
00048   //! Constructor
00049   PID(const float pGain, const float iGain, const float dGain,
00050       const T& iMin, const T& iMax,
00051       const T& errThresh = 0,
00052       const T& posThresh = 0, const T& negThresh = 0,
00053       const T& maxMotor = 100,const T& minMotor = -100,
00054       const int noMoveThresh = 150,
00055       const bool runPID = true,
00056       const float speed = 1,
00057       const T& posStaticErrThresh = 50,
00058       const T& negStaticErrThresh = -50
00059       );
00060 
00061   //! Destructor
00062   ~PID();
00063 
00064   //! Set the gains
00065   void setPIDPgain(float p);
00066   void setPIDIgain(float i);
00067   void setPIDDgain(float d);
00068   void setSpeed(float s);
00069   void setPIDOn(bool val);
00070 
00071   float getPIDPgain() { return itsPgain; }
00072   float getPIDIgain() { return itsIgain; }
00073   float getPIDDgain() { return itsDgain; }
00074 
00075   T getVel() { return itsVel; }
00076   T getErr() { return itsErr; }
00077   T getVal() { return itsVal; }
00078   T getTarget() { return itsTarget; }
00079   T getPTerm() { return itsPTerm; }
00080   T getRunPID() { return itsRunPID; }
00081 
00082   //! Receive a new measurement value and get the new recommended action
00083   T update(const T& target, const T& val);
00084 
00085   //! Receive a new measurement value and get the new recommended action
00086   T update(const T& targetPos, const T& targetVel, const T& currentVal);
00087 
00088 private:
00089   T itsIstate, itsDstate;
00090   float itsPgain, itsIgain, itsDgain;
00091   T itsImin, itsImax;
00092   T itsErrThresh, itsPosStaticErrThresh, itsNegStaticErrThresh, itsPosThresh, itsNegThresh;
00093   T itsMaxMotor, itsMinMotor;
00094   int itsNoMoveThresh;
00095   bool itsRunPID;
00096   float itsSpeed;
00097   int itsNoMoveCount;
00098   T itsVel;
00099   T itsErr;
00100   T itsVal; //current value
00101   T itsTarget; //current target
00102   T itsPTerm; //current correction
00103   T itsLastVal; //current correction
00104 };
00105 
00106 #endif
00107 
00108 // ######################################################################
00109 /* So things look consistent in everyone's emacs... */
00110 /* Local Variables: */
00111 /* indent-tabs-mode: nil */
00112 /* End: */
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