apollo::control::PIDController Class Reference

A proportional-integral-derivative controller for speed and steering using defualt integral hold. More...

#include <pid_controller.h>

Inheritance diagram for apollo::control::PIDController:

Collaboration diagram for apollo::control::PIDController:

Public Member Functions
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 double	Control (const double error, const double dt)
	compute control value based on the error 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...

Protected Attributes
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 using defualt integral hold.

Constructor & Destructor Documentation

~PIDController()

virtual apollo::control::PIDController::~PIDController ( )

virtualdefault

Member Function Documentation

Control()

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

virtual

compute control value based on the error

Parameters

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

Returns

control value based on PID terms

Reimplemented in apollo::control::PIDBCController, and apollo::control::PIDICController.

Init()

void apollo::control::PIDController::Init

(

const PidConf &

pid_conf

)

initialize pid controller

Parameters

pid_conf

configuration for pid controller

IntegratorHold()

bool apollo::control::PIDController::IntegratorHold

(

)

const

get status that if integrator is hold

Returns

if integrator is hold return true

IntegratorSaturationStatus()

int apollo::control::PIDController::IntegratorSaturationStatus

(

)

const

get saturation status

Returns

saturation status

Reset()

void apollo::control::PIDController::Reset

(

)

reset variables for pid controller

SetIntegratorHold()

void apollo::control::PIDController::SetIntegratorHold

(

bool

hold

)

set whether to hold integrator component at its current value.

Parameters

hold

SetPID()

void apollo::control::PIDController::SetPID

(

const PidConf &

pid_conf

)

set pid controller coefficients for the proportional, integral, and derivative

Parameters

pid_conf

configuration for pid controller

Member Data Documentation

first_hit_

bool apollo::control::PIDController::first_hit_ = false

protected

integral_

double apollo::control::PIDController::integral_ = 0.0

protected

integrator_enabled_

bool apollo::control::PIDController::integrator_enabled_ = false

protected

integrator_hold_

bool apollo::control::PIDController::integrator_hold_ = false

protected

integrator_saturation_high_

double apollo::control::PIDController::integrator_saturation_high_ = 0.0

protected

integrator_saturation_low_

double apollo::control::PIDController::integrator_saturation_low_ = 0.0

protected

integrator_saturation_status_

int apollo::control::PIDController::integrator_saturation_status_ = 0

protected

kaw_

double apollo::control::PIDController::kaw_ = 0.0

protected

kd_

double apollo::control::PIDController::kd_ = 0.0

protected

ki_

double apollo::control::PIDController::ki_ = 0.0

protected

kp_

double apollo::control::PIDController::kp_ = 0.0

protected

output_saturation_high_

double apollo::control::PIDController::output_saturation_high_ = 0.0

protected

output_saturation_low_

double apollo::control::PIDController::output_saturation_low_ = 0.0

protected

output_saturation_status_

int apollo::control::PIDController::output_saturation_status_ = 0

protected

previous_error_

double apollo::control::PIDController::previous_error_ = 0.0

protected

previous_output_

double apollo::control::PIDController::previous_output_ = 0.0

protected

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

• modules/control/common/pid_controller.h