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)
	Calculate next step. More...
void	reset ()

Public Attributes
T	kd
	Derivative gain. More...
T	ki
	Integral gain. More...
T	kp
	Proportional gain. More...
T	x
	Setpoint. More...

Private Attributes
T	e
	Previous error. More...
T	i
	Integral output. 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

Calculate next step.

\[ k_{\mathrm{p}} \, e(t) + k_{\mathrm{i}} \int_{0}^{t} e(\tau) \, \mathrm{d}\tau + k_{\mathrm{d}} \, \frac{\mathrm{d}}{\mathrm{d}t} \, e(t) \]

Parameters

[in]

dt

\(\mathrm{d}t\)

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.

\[ k_{\mathrm{i}} \int_{0}^{t} e(\tau) \, \mathrm{d}\tau \]

kd

template<typename T >

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

Derivative gain.

\[ k_{\mathrm{d}} \]

ki

template<typename T >

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

Integral gain.

\[ k_{\mathrm{i}} \]

kp

template<typename T >

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

Proportional gain.

\[ k_{\mathrm{p}} \]

x

template<typename T >

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

Setpoint.

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

• rl/math/Pid.h