#include <gains.hpp>

Public Member Functions
FloatFieldType &	kP ()
	Proportional PID gain. More...

const FloatFieldType &	kP () const
	Proportional PID gain. More...

FloatFieldType &	kI ()
	Integral PID gain. More...

const FloatFieldType &	kI () const
	Integral PID gain. More...

FloatFieldType &	kD ()
	Derivative PID gain. More...

const FloatFieldType &	kD () const
	Derivative PID gain. More...

FloatFieldType &	feedForward ()
	Feed forward term (this term is multiplied by the target and added to the output). More...

const FloatFieldType &	feedForward () const
	Feed forward term (this term is multiplied by the target and added to the output). More...

FloatFieldType &	deadZone ()

const FloatFieldType &	deadZone () const

FloatFieldType &	iClamp ()

const FloatFieldType &	iClamp () const

FloatFieldType &	punch ()

const FloatFieldType &	punch () const

FloatFieldType &	minTarget ()
	Minimum allowed value for input to the PID controller. More...

const FloatFieldType &	minTarget () const
	Minimum allowed value for input to the PID controller. More...

FloatFieldType &	maxTarget ()
	Maximum allowed value for input to the PID controller. More...

const FloatFieldType &	maxTarget () const
	Maximum allowed value for input to the PID controller. More...

FloatFieldType &	targetLowpass ()

const FloatFieldType &	targetLowpass () const

FloatFieldType &	minOutput ()
	Output from the PID controller is limited to a minimum of this value. More...

const FloatFieldType &	minOutput () const
	Output from the PID controller is limited to a minimum of this value. More...

FloatFieldType &	maxOutput ()
	Output from the PID controller is limited to a maximum of this value. More...

const FloatFieldType &	maxOutput () const
	Output from the PID controller is limited to a maximum of this value. More...

FloatFieldType &	outputLowpass ()

const FloatFieldType &	outputLowpass () const

BoolFieldType &	dOnError ()

const BoolFieldType &	dOnError () const

Member Function Documentation

◆ kP() [1/2]

template<typename MessageRefType, typename FloatFieldType, typename BoolFieldType, typename FloatEnumType, typename BoolEnumType>

FloatFieldType& hebi::Gains< MessageRefType, FloatFieldType, BoolFieldType, FloatEnumType, BoolEnumType >::kP ( )

inline

Proportional PID gain.

◆ kP() [2/2]

template<typename MessageRefType, typename FloatFieldType, typename BoolFieldType, typename FloatEnumType, typename BoolEnumType>

const FloatFieldType& hebi::Gains< MessageRefType, FloatFieldType, BoolFieldType, FloatEnumType, BoolEnumType >::kP ( ) const

inline

Proportional PID gain.

◆ kI() [1/2]

template<typename MessageRefType, typename FloatFieldType, typename BoolFieldType, typename FloatEnumType, typename BoolEnumType>

FloatFieldType& hebi::Gains< MessageRefType, FloatFieldType, BoolFieldType, FloatEnumType, BoolEnumType >::kI ( )

inline

Integral PID gain.

◆ kI() [2/2]

template<typename MessageRefType, typename FloatFieldType, typename BoolFieldType, typename FloatEnumType, typename BoolEnumType>

const FloatFieldType& hebi::Gains< MessageRefType, FloatFieldType, BoolFieldType, FloatEnumType, BoolEnumType >::kI ( ) const

inline

Integral PID gain.

◆ kD() [1/2]

template<typename MessageRefType, typename FloatFieldType, typename BoolFieldType, typename FloatEnumType, typename BoolEnumType>

FloatFieldType& hebi::Gains< MessageRefType, FloatFieldType, BoolFieldType, FloatEnumType, BoolEnumType >::kD ( )

inline

Derivative PID gain.

◆ kD() [2/2]

template<typename MessageRefType, typename FloatFieldType, typename BoolFieldType, typename FloatEnumType, typename BoolEnumType>

const FloatFieldType& hebi::Gains< MessageRefType, FloatFieldType, BoolFieldType, FloatEnumType, BoolEnumType >::kD ( ) const

inline

Derivative PID gain.

◆ feedForward() [1/2]

template<typename MessageRefType, typename FloatFieldType, typename BoolFieldType, typename FloatEnumType, typename BoolEnumType>

FloatFieldType& hebi::Gains< MessageRefType, FloatFieldType, BoolFieldType, FloatEnumType, BoolEnumType >::feedForward ( )

inline

Feed forward term (this term is multiplied by the target and added to the output).

◆ feedForward() [2/2]

template<typename MessageRefType, typename FloatFieldType, typename BoolFieldType, typename FloatEnumType, typename BoolEnumType>

const FloatFieldType& hebi::Gains< MessageRefType, FloatFieldType, BoolFieldType, FloatEnumType, BoolEnumType >::feedForward ( ) const

inline

Feed forward term (this term is multiplied by the target and added to the output).

◆ deadZone() [1/2]

template<typename MessageRefType, typename FloatFieldType, typename BoolFieldType, typename FloatEnumType, typename BoolEnumType>

FloatFieldType& hebi::Gains< MessageRefType, FloatFieldType, BoolFieldType, FloatEnumType, BoolEnumType >::deadZone ( )

inline

Error values within +/- this value from zero are treated as zero (in terms of computed proportional output, input to numerical derivative, and accumulated integral error).

◆ deadZone() [2/2]

template<typename MessageRefType, typename FloatFieldType, typename BoolFieldType, typename FloatEnumType, typename BoolEnumType>

const FloatFieldType& hebi::Gains< MessageRefType, FloatFieldType, BoolFieldType, FloatEnumType, BoolEnumType >::deadZone ( ) const

inline

Error values within +/- this value from zero are treated as zero (in terms of computed proportional output, input to numerical derivative, and accumulated integral error).

◆ iClamp() [1/2]

template<typename MessageRefType, typename FloatFieldType, typename BoolFieldType, typename FloatEnumType, typename BoolEnumType>

FloatFieldType& hebi::Gains< MessageRefType, FloatFieldType, BoolFieldType, FloatEnumType, BoolEnumType >::iClamp ( )

inline

Maximum allowed value for the output of the integral component of the PID loop; the integrated error is not allowed to exceed value that will generate this number.

◆ iClamp() [2/2]

template<typename MessageRefType, typename FloatFieldType, typename BoolFieldType, typename FloatEnumType, typename BoolEnumType>

const FloatFieldType& hebi::Gains< MessageRefType, FloatFieldType, BoolFieldType, FloatEnumType, BoolEnumType >::iClamp ( ) const

inline

Maximum allowed value for the output of the integral component of the PID loop; the integrated error is not allowed to exceed value that will generate this number.

◆ punch() [1/2]

template<typename MessageRefType, typename FloatFieldType, typename BoolFieldType, typename FloatEnumType, typename BoolEnumType>

FloatFieldType& hebi::Gains< MessageRefType, FloatFieldType, BoolFieldType, FloatEnumType, BoolEnumType >::punch ( )

inline

Constant offset to the PID output outside of the deadzone; it is added when the error is positive and subtracted when it is negative.

◆ punch() [2/2]

template<typename MessageRefType, typename FloatFieldType, typename BoolFieldType, typename FloatEnumType, typename BoolEnumType>

const FloatFieldType& hebi::Gains< MessageRefType, FloatFieldType, BoolFieldType, FloatEnumType, BoolEnumType >::punch ( ) const

inline

Constant offset to the PID output outside of the deadzone; it is added when the error is positive and subtracted when it is negative.

◆ minTarget() [1/2]

template<typename MessageRefType, typename FloatFieldType, typename BoolFieldType, typename FloatEnumType, typename BoolEnumType>

FloatFieldType& hebi::Gains< MessageRefType, FloatFieldType, BoolFieldType, FloatEnumType, BoolEnumType >::minTarget ( )

inline

Minimum allowed value for input to the PID controller.

◆ minTarget() [2/2]

template<typename MessageRefType, typename FloatFieldType, typename BoolFieldType, typename FloatEnumType, typename BoolEnumType>

const FloatFieldType& hebi::Gains< MessageRefType, FloatFieldType, BoolFieldType, FloatEnumType, BoolEnumType >::minTarget ( ) const

inline

Minimum allowed value for input to the PID controller.

◆ maxTarget() [1/2]

template<typename MessageRefType, typename FloatFieldType, typename BoolFieldType, typename FloatEnumType, typename BoolEnumType>

FloatFieldType& hebi::Gains< MessageRefType, FloatFieldType, BoolFieldType, FloatEnumType, BoolEnumType >::maxTarget ( )

inline

Maximum allowed value for input to the PID controller.

◆ maxTarget() [2/2]

template<typename MessageRefType, typename FloatFieldType, typename BoolFieldType, typename FloatEnumType, typename BoolEnumType>

const FloatFieldType& hebi::Gains< MessageRefType, FloatFieldType, BoolFieldType, FloatEnumType, BoolEnumType >::maxTarget ( ) const

inline

Maximum allowed value for input to the PID controller.

◆ targetLowpass() [1/2]

template<typename MessageRefType, typename FloatFieldType, typename BoolFieldType, typename FloatEnumType, typename BoolEnumType>

FloatFieldType& hebi::Gains< MessageRefType, FloatFieldType, BoolFieldType, FloatEnumType, BoolEnumType >::targetLowpass ( )

inline

A simple lowpass filter applied to the target set point; needs to be between 0 and 1. At each timestep: x_t = x_t

a + x_{t-1} * (1 - a).

◆ targetLowpass() [2/2]

template<typename MessageRefType, typename FloatFieldType, typename BoolFieldType, typename FloatEnumType, typename BoolEnumType>

const FloatFieldType& hebi::Gains< MessageRefType, FloatFieldType, BoolFieldType, FloatEnumType, BoolEnumType >::targetLowpass ( ) const

inline

A simple lowpass filter applied to the target set point; needs to be between 0 and 1. At each timestep: x_t = x_t

a + x_{t-1} * (1 - a).

◆ minOutput() [1/2]

template<typename MessageRefType, typename FloatFieldType, typename BoolFieldType, typename FloatEnumType, typename BoolEnumType>

FloatFieldType& hebi::Gains< MessageRefType, FloatFieldType, BoolFieldType, FloatEnumType, BoolEnumType >::minOutput ( )

inline

Output from the PID controller is limited to a minimum of this value.

◆ minOutput() [2/2]

template<typename MessageRefType, typename FloatFieldType, typename BoolFieldType, typename FloatEnumType, typename BoolEnumType>

const FloatFieldType& hebi::Gains< MessageRefType, FloatFieldType, BoolFieldType, FloatEnumType, BoolEnumType >::minOutput ( ) const

inline

Output from the PID controller is limited to a minimum of this value.

◆ maxOutput() [1/2]

template<typename MessageRefType, typename FloatFieldType, typename BoolFieldType, typename FloatEnumType, typename BoolEnumType>

FloatFieldType& hebi::Gains< MessageRefType, FloatFieldType, BoolFieldType, FloatEnumType, BoolEnumType >::maxOutput ( )

inline

Output from the PID controller is limited to a maximum of this value.

◆ maxOutput() [2/2]

template<typename MessageRefType, typename FloatFieldType, typename BoolFieldType, typename FloatEnumType, typename BoolEnumType>

const FloatFieldType& hebi::Gains< MessageRefType, FloatFieldType, BoolFieldType, FloatEnumType, BoolEnumType >::maxOutput ( ) const

inline

Output from the PID controller is limited to a maximum of this value.

◆ outputLowpass() [1/2]

template<typename MessageRefType, typename FloatFieldType, typename BoolFieldType, typename FloatEnumType, typename BoolEnumType>

FloatFieldType& hebi::Gains< MessageRefType, FloatFieldType, BoolFieldType, FloatEnumType, BoolEnumType >::outputLowpass ( )

inline

A simple lowpass filter applied to the controller output; needs to be between 0 and 1. At each timestep: x_t = x_t * a + x_{t-1} * (1 - a).

◆ outputLowpass() [2/2]

template<typename MessageRefType, typename FloatFieldType, typename BoolFieldType, typename FloatEnumType, typename BoolEnumType>

const FloatFieldType& hebi::Gains< MessageRefType, FloatFieldType, BoolFieldType, FloatEnumType, BoolEnumType >::outputLowpass ( ) const

inline

A simple lowpass filter applied to the controller output; needs to be between 0 and 1. At each timestep: x_t = x_t * a + x_{t-1} * (1 - a).

◆ dOnError() [1/2]

template<typename MessageRefType, typename FloatFieldType, typename BoolFieldType, typename FloatEnumType, typename BoolEnumType>

BoolFieldType& hebi::Gains< MessageRefType, FloatFieldType, BoolFieldType, FloatEnumType, BoolEnumType >::dOnError ( )

inline

Controls whether the Kd term uses the "derivative of error" or "derivative of measurement." When the setpoints have step inputs or are noisy, setting this to false can eliminate corresponding spikes or noise in the output.

◆ dOnError() [2/2]

template<typename MessageRefType, typename FloatFieldType, typename BoolFieldType, typename FloatEnumType, typename BoolEnumType>

const BoolFieldType& hebi::Gains< MessageRefType, FloatFieldType, BoolFieldType, FloatEnumType, BoolEnumType >::dOnError ( ) const

inline

Controls whether the Kd term uses the "derivative of error" or "derivative of measurement." When the setpoints have step inputs or are noisy, setting this to false can eliminate corresponding spikes or noise in the output.

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

gains.hpp

Public Member Functions

Member Function Documentation

◆ kP() [1/2]

◆ kP() [2/2]

◆ kI() [1/2]

◆ kI() [2/2]

◆ kD() [1/2]

◆ kD() [2/2]

◆ feedForward() [1/2]

◆ feedForward() [2/2]

◆ deadZone() [1/2]

◆ deadZone() [2/2]

◆ iClamp() [1/2]

◆ iClamp() [2/2]

◆ punch() [1/2]

◆ punch() [2/2]

◆ minTarget() [1/2]

◆ minTarget() [2/2]

◆ maxTarget() [1/2]

◆ maxTarget() [2/2]

◆ targetLowpass() [1/2]

◆ targetLowpass() [2/2]

◆ minOutput() [1/2]

◆ minOutput() [2/2]

◆ maxOutput() [1/2]

◆ maxOutput() [2/2]

◆ outputLowpass() [1/2]

◆ outputLowpass() [2/2]

◆ dOnError() [1/2]

◆ dOnError() [2/2]