control::classic::AbstractController< T > Class Template Reference

#include <pid.h>

Inheritance diagram for control::classic::AbstractController< T >:

Public Member Functions
	AbstractController (T Limit_=max< T >())
T	step (T e) final
void	setLimit (T limit)
virtual void	reset ()

Public Attributes
T	Limit
bool	clipping = false

Protected Member Functions
T	clip (T u)
virtual T	control (T e)=0

Detailed Description

template<typename T>
class control::classic::AbstractController< T >

Base controller that implements limiting, resetting and stepping

Template Parameters

T

Constructor & Destructor Documentation

AbstractController()

template<typename T >

control::classic::AbstractController< T >::AbstractController ( T  Limit_ = max<T>() )

inlineexplicit

Constructor

Parameters

Limit_

maximum value of the output signal

Member Function Documentation

clip()

template<typename T >

T control::classic::AbstractController< T >::clip ( T  u )

inlineprotected

Limit the output

Parameters

T

u

Returns

T

control()

template<typename T >

virtual T control::classic::AbstractController< T >::control ( T  e )

protectedpure virtual

Retrieves the control output, unclipped

Parameters

T	e the error

Returns

T the raw output

Implemented in control::classic::PID< T >, and control::classic::P< T >.

reset()

template<typename T >

virtual void control::classic::AbstractController< T >::reset ( )

inlinevirtual

Reset the state of the controller

Reimplemented in control::classic::PID< T >.

setLimit()

template<typename T >

void control::classic::AbstractController< T >::setLimit ( T  limit )

inline

Update the output limit

Parameters

T

limit

step()

template<typename T >

T control::classic::AbstractController< T >::step ( T  e )

inlinefinalvirtual

Steps the controller one time-step

Parameters

T	e the error value

Returns

T the controller output

Implements control::system::SISO< T >.

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

• include/control/classic/pid.h