List of all members.
Public Types |
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typedef MathTraits::unitless_type | unitless_type |
Public Member Functions |
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| PIDController (const std::string &sysName="PIDController") |
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| PIDController (const libconfig::Setting &setting, const std::string &sysName="PIDController") |
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void | setFromConfig (const libconfig::Setting &setting) |
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void | setKp (const unitless_type &proportionalGains) |
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void | setKi (const unitless_type &integralGains) |
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void | setKd (const unitless_type &derivitiveGains) |
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void | setIntegratorState (const unitless_type &integratorState) |
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void | setIntegratorLimit (const unitless_type &intSaturations) |
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void | setControlSignalLimit (const unitless_type &csSaturations) |
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void | resetIntegrator () |
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unitless_type & | getKp () |
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const unitless_type & | getKp () const |
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unitless_type & | getKi () |
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const unitless_type & | getKi () const |
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unitless_type & | getKd () |
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const unitless_type & | getKd () const |
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const unitless_type & | getIntegratorState () const |
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unitless_type & | getIntegratorLimit () |
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const unitless_type & | getIntegratorLimit () const |
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OutputType & | getControlSignalLimit () |
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const OutputType & | getControlSignalLimit () const |
Protected Member Functions |
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void | setSamplePeriod (double timeStep) |
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virtual void | operate () |
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virtual void | onExecutionManagerChanged () |
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void | getSamplePeriodFromEM () |
Protected Attributes |
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double | T_s |
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InputType | error |
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InputType | error_1 |
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unitless_type | intError |
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unitless_type | intErrorLimit |
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unitless_type | kp |
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unitless_type | ki |
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unitless_type | kd |
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OutputType | controlSignal |
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OutputType | controlSignalLimit |
template<typename InputType, typename OutputType = typename InputType::actuator_type, typename MathTraits = math::Traits<InputType>>
class barrett::systems::PIDController< InputType, OutputType, MathTraits >
The documentation for this class was generated from the following files:
1.7.6.1
