rl::math::Pid< T > Class Template Reference

Proportional-Integral-Derivative controller. More...

#include <Pid.h>

Public Member Functions
	Pid ()
virtual	~Pid ()
T	operator() (const T &x, const Real &dt)
void	reset ()

Public Attributes
T	kd
	Derivative gain \( K_d \). More...
T	ki
	Integral gain \( K_i \). More...
T	kp
	Proportional gain \( K_p \). More...
T	x
	Setpoint. More...

Private Attributes
T	e
	Previous error. More...
T	i
	Integral output \( K_i \int_{0}^{t} e(\tau) \, d\tau \). More...

Detailed Description

template<typename T>
class rl::math::Pid< T >

Proportional-Integral-Derivative controller.

Constructor & Destructor Documentation

Pid()

template<typename T >

rl::math::Pid< T >::Pid ( )

inline

~Pid()

template<typename T >

virtual rl::math::Pid< T >::~Pid ( )

inlinevirtual

Member Function Documentation

operator()()

template<typename T >

T rl::math::Pid< T >::operator() ( const T &  x, const Real &  dt  )

inline

\[ K_p e(t) + K_i \int_{0}^{t} e(\tau) \, d\tau + K_d \frac{de}{dt} \]

Parameters

dt

\( dt \)

reset()

template<typename T >

void rl::math::Pid< T >::reset ( )

inline

Member Data Documentation

e

template<typename T >

T rl::math::Pid< T >::e

private

Previous error.

i

template<typename T >

T rl::math::Pid< T >::i

private

Integral output \( K_i \int_{0}^{t} e(\tau) \, d\tau \).

kd

template<typename T >

T rl::math::Pid< T >::kd

Derivative gain \( K_d \).

ki

template<typename T >

T rl::math::Pid< T >::ki

Integral gain \( K_i \).

kp

template<typename T >

T rl::math::Pid< T >::kp

Proportional gain \( K_p \).

x

template<typename T >

T rl::math::Pid< T >::x

Setpoint.

---

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

• rl/math/Pid.h