cajun::steering_pid_v2_t Class Reference

#include <steering_pid.H>

Inheritance diagram for cajun::steering_pid_v2_t:

List of all members.

Public Member Functions
virtual void	init ()
	steering_pid_v2_t (const conf_t &conf)
bool	read_config (const conf_t &conf)
void	steer (steering_data_t &steering, double steering_position, guide_data_t const &gd, heading_data_t const &heading_data, double speed_, bool forward, bool tight_path)
Private Attributes
interp_table_t	m_kp
double	m_ki
interp_table_t	m_kd
integral	pidIntegral
double	m_error [2]
double	m_tstamp [2]
double	previous_steer
double	max_turn

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Constructor & Destructor Documentation

steering_pid_v2_t::steering_pid_v2_t

(

const conf_t &

conf

)

References init(), integral::initializeIntegral(), pidIntegral, and read_config().

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Member Function Documentation

virtual void cajun::steering_pid_v2_t::init

(

)

[inline, virtual]

Reimplemented from cajun::base_steering_t.

References m_error, m_tstamp, and previous_steer.

Referenced by steering_pid_v2_t().

bool steering_pid_v2_t::read_config

(

const conf_t &

conf

)

[virtual]

Reimplemented from cajun::base_steering_t.

References m_kd, m_ki, m_kp, max_turn, and cajun::base_steering_t::read_config().

Referenced by steering_pid_v2_t().

void steering_pid_v2_t::steer	(	steering_data_t &	steering,
		double	steering_position,
		guide_data_t const &	gd,
		heading_data_t const &	heading_data,
		double	speed_,
		bool	forward,
		bool	tight_path
	)			[virtual]

Implements cajun::base_steering_t.

References integral::get_total_error(), m_error, m_kd, m_ki, m_kp, m_tstamp, max_turn, pidIntegral, previous_steer, and integral::pushPullValues().

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Member Data Documentation

double cajun::steering_pid_v2_t::m_error[2] [private]

Referenced by init(), and steer().

interp_table_t cajun::steering_pid_v2_t::m_kd [private]

Referenced by read_config(), and steer().

double cajun::steering_pid_v2_t::m_ki [private]

Referenced by read_config(), and steer().

interp_table_t cajun::steering_pid_v2_t::m_kp [private]

Referenced by read_config(), and steer().

double cajun::steering_pid_v2_t::m_tstamp[2] [private]

Referenced by init(), and steer().

double cajun::steering_pid_v2_t::max_turn [private]

Referenced by read_config(), and steer().

integral cajun::steering_pid_v2_t::pidIntegral [private]

Referenced by steer(), and steering_pid_v2_t().

double cajun::steering_pid_v2_t::previous_steer [private]

Referenced by init(), and steer().

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

• steering_pid.H
• steering_pid.C