SimplePIDD Class Reference

#include <sot/talos_balance/simple-pidd.hh>

Inheritance diagram for SimplePIDD:

Collaboration diagram for SimplePIDD:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	SimplePIDD (const std::string &name)
	DECLARE_SIGNAL_IN (ddx_des, dynamicgraph::Vector)
	DECLARE_SIGNAL_IN (decayFactor, double)
	DECLARE_SIGNAL_IN (dx, dynamicgraph::Vector)
	DECLARE_SIGNAL_IN (dx_des, dynamicgraph::Vector)
	DECLARE_SIGNAL_IN (Kd, dynamicgraph::Vector)
	DECLARE_SIGNAL_IN (Ki, dynamicgraph::Vector)
	DECLARE_SIGNAL_IN (Kp, dynamicgraph::Vector)
	DECLARE_SIGNAL_IN (x, dynamicgraph::Vector)
	DECLARE_SIGNAL_IN (x_des, dynamicgraph::Vector)
	DECLARE_SIGNAL_OUT (ddx_ref, dynamicgraph::Vector)
	DECLARE_SIGNAL_OUT (dx_ref, dynamicgraph::Vector)
virtual void	display (std::ostream &os) const
void	init (const double &dt, const int &N)
void	resetIntegralError ()
void	resetVelocity ()

Protected Attributes
double	m_dt
dynamicgraph::Vector	m_dx_ref
	true if the entity has been successfully initialized More...
bool	m_initSucceeded
dynamicgraph::Vector	m_integralError

Detailed Description

Definition at line 52 of file simple-pidd.hh.

Constructor & Destructor Documentation

SimplePIDD()

SimplePIDD

(

const std::string &

name

)

Definition at line 54 of file simple-pidd.cpp.

Member Function Documentation

DECLARE_SIGNAL_IN() [1/9]

DECLARE_SIGNAL_IN	(	ddx_des	,
		dynamicgraph::Vector
	)

DECLARE_SIGNAL_IN() [2/9]

DECLARE_SIGNAL_IN	(	decayFactor	,
		double
	)

DECLARE_SIGNAL_IN() [3/9]

DECLARE_SIGNAL_IN	(	dx	,
		dynamicgraph::Vector
	)

DECLARE_SIGNAL_IN() [4/9]

DECLARE_SIGNAL_IN	(	dx_des	,
		dynamicgraph::Vector
	)

DECLARE_SIGNAL_IN() [5/9]

DECLARE_SIGNAL_IN	(	Kd	,
		dynamicgraph::Vector
	)

DECLARE_SIGNAL_IN() [6/9]

DECLARE_SIGNAL_IN	(	Ki	,
		dynamicgraph::Vector
	)

DECLARE_SIGNAL_IN() [7/9]

DECLARE_SIGNAL_IN	(	Kp	,
		dynamicgraph::Vector
	)

DECLARE_SIGNAL_IN() [8/9]

DECLARE_SIGNAL_IN	(	x	,
		dynamicgraph::Vector
	)

DECLARE_SIGNAL_IN() [9/9]

DECLARE_SIGNAL_IN	(	x_des	,
		dynamicgraph::Vector
	)

DECLARE_SIGNAL_OUT() [1/2]

DECLARE_SIGNAL_OUT	(	ddx_ref	,
		dynamicgraph::Vector
	)

DECLARE_SIGNAL_OUT() [2/2]

DECLARE_SIGNAL_OUT	(	dx_ref	,
		dynamicgraph::Vector
	)

display()

void display ( std::ostream &  os ) const

virtual

Definition at line 159 of file simple-pidd.cpp.

init()

void init	(	const double &	dt,
		const int &	N
	)

Definition at line 84 of file simple-pidd.cpp.

resetIntegralError()

void resetIntegralError

(

)

Definition at line 93 of file simple-pidd.cpp.

resetVelocity()

void resetVelocity

(

)

Definition at line 91 of file simple-pidd.cpp.

Member Data Documentation

m_dt

double m_dt

protected

Definition at line 93 of file simple-pidd.hh.

m_dx_ref

dynamicgraph::Vector m_dx_ref

protected

true if the entity has been successfully initialized

Definition at line 91 of file simple-pidd.hh.

m_initSucceeded

bool m_initSucceeded

protected

Definition at line 90 of file simple-pidd.hh.

m_integralError

dynamicgraph::Vector m_integralError

protected

Definition at line 92 of file simple-pidd.hh.

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

• include/sot/talos_balance/simple-pidd.hh
• src/simple-pidd.cpp