A proportional-integral-derivative controller for speed and steering with backward-calculation-anti-windup. More...

Inheritance diagram for apollo::control::PIDBCController:

Collaboration diagram for apollo::control::PIDBCController:

Public Member Functions
virtual double	Control (const double error, const double dt)
	compute control value based on the error, with backward-calculation-anti-windup More...

virtual int	OutputSaturationStatus ()

Public Member Functions inherited from apollo::control::PIDController
void	Init (const PidConf &pid_conf)
	initialize pid controller More...

void	SetPID (const PidConf &pid_conf)
	set pid controller coefficients for the proportional, integral, and derivative More...

void	Reset ()
	reset variables for pid controller More...

virtual	~PIDController ()=default

int	IntegratorSaturationStatus () const
	get saturation status More...

bool	IntegratorHold () const
	get status that if integrator is hold More...

void	SetIntegratorHold (bool hold)
	set whether to hold integrator component at its current value. More...

Additional Inherited Members
Protected Attributes inherited from apollo::control::PIDController
double	kp_ = 0.0

double	ki_ = 0.0

double	kd_ = 0.0

double	kaw_ = 0.0

double	previous_error_ = 0.0

double	previous_output_ = 0.0

double	integral_ = 0.0

double	integrator_saturation_high_ = 0.0

double	integrator_saturation_low_ = 0.0

bool	first_hit_ = false

bool	integrator_enabled_ = false

bool	integrator_hold_ = false

int	integrator_saturation_status_ = 0

double	output_saturation_high_ = 0.0

double	output_saturation_low_ = 0.0

int	output_saturation_status_ = 0

Detailed Description

A proportional-integral-derivative controller for speed and steering with backward-calculation-anti-windup.

Member Function Documentation

virtual double apollo::control::PIDBCController::Control	(	const double	error,
		const double	dt
	)

virtual

compute control value based on the error, with backward-calculation-anti-windup

Parameters

error	error value, the difference between a desired value and a measured value
dt	sampling time interval

virtual int apollo::control::PIDBCController::OutputSaturationStatus ( )

virtual

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