ROS2Controllers::PidConfiguration Class Reference

#include <PidConfiguration.h>

Public Member Functions
	AZ_TYPE_INFO (PidConfiguration, "{814E0D1E-2C33-44A5-868E-C914640E2F7E}")
	PidConfiguration (const double p, const double i, const double d, const double iMax, const double iMin, const bool antiWindup, const double outputLimit)
void	InitializePid ()
	Initialize the controller.
double	ComputeCommand (double error, uint64_t deltaTimeNanoseconds)

Static Public Member Functions
static void	Reflect (AZ::ReflectContext *context)

Detailed Description

A PID controller. Based on a ROS 2 control_toolbox implementation.

See also

control_toolbox.

Constructor & Destructor Documentation

PidConfiguration()

ROS2Controllers::PidConfiguration::PidConfiguration ( const double  p, const double  i, const double  d, const double  iMax, const double  iMin, const bool  antiWindup, const double  outputLimit  )

inline

Parametrized constructor of PidConfiguration

Parameters

p	Proportional gain.
i	Integral gain.
d	Derivative gain.
iMax	Maximal allowable integral term.
iMin	Minimal allowable integral term.
antiWindup	Prevents condition of integrator overflow in integral action.
outputLimit	Limit PID output; set to 0.0 to disable.

Member Function Documentation

ComputeCommand()

double ROS2Controllers::PidConfiguration::ComputeCommand	(	double	error,
		uint64_t	deltaTimeNanoseconds
	)

Compute the value of PID command.

Parameters

error	Value of difference between target and state since last call.
deltaTimeNanoseconds	change in time since last call (nanoseconds).

Returns

Value of computed command.

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

• Gems/ROS2Controllers/Code/Include/ROS2Controllers/Controllers/PidConfiguration.h