wsf::six_dof::PID Class Reference

#include <WsfSixDOF_PID.hpp>

Public Member Functions
	PID ()=default
	~PID ()=default
PID &	operator= (const PID &other)=delete
PID *	Clone () const
	PID (const PID &aSrc)=default
void	ProcessInput (UtInputBlock &aInputBlock)
double	CalcOutputFromTarget (double aSetPoint, double aCurValue, double aSimTime_sec)
double	CalcOutputFromTargetWithLimits (double aSetPoint, double aCurValue, double aSimTime_sec, double aMinOutput, double aMaxOutput)
double	CalcOutputFromError (double aError, double aCurValue, double aSimTime_sec)
double	CalcOutputFromErrorWithLimits (double aError, double aCurValue, double aSimTime_sec, double aMinOutput, double aMaxOutput)
void	SetCurrentValue (double aCurrentValue)
void	SetTargetValue (double aTargetValue)
void	SetControllingValue (double aControllingValue)
void	ResetPidState ()
void	ResetPidTiming ()
std::vector< PidGainData > *	GetPidGainTableData ()
void	SetPidGainTableData (const std::vector< PidGainData > &aDataTables)
void	GetPidValueData (SinglePidValueData &aData) const
void	SetBias (double aBias)
void	SetFeedForward (double aFeedForward)
bool	GetFeedForward (double &aFeedForward)
void	AddElementsToGainTable (size_t aTotalElementsInTable)
double	GetUpdateInterval_sec ()
bool	TrySetUpdateInterval_sec (double aInterval_sec)

Constructor & Destructor Documentation

PID() [1/2]

wsf::six_dof::PID::PID ( )

default

Referenced by Clone(), operator=(), and PID().

~PID()

wsf::six_dof::PID::~PID ( )

default

PID() [2/2]

wsf::six_dof::PID::PID ( const PID & aSrc )

default

References AddElementsToGainTable(), CalcOutputFromError(), CalcOutputFromErrorWithLimits(), CalcOutputFromTarget(), CalcOutputFromTargetWithLimits(), GetFeedForward(), GetPidGainTableData(), GetPidValueData(), GetUpdateInterval_sec(), PID(), ProcessInput(), ResetPidState(), ResetPidTiming(), SetBias(), SetControllingValue(), SetCurrentValue(), SetFeedForward(), SetPidGainTableData(), SetTargetValue(), and TrySetUpdateInterval_sec().

Member Function Documentation

AddElementsToGainTable()

void wsf::six_dof::PID::AddElementsToGainTable

(

size_t

aTotalElementsInTable

)

Referenced by PID().

CalcOutputFromError()

double wsf::six_dof::PID::CalcOutputFromError	(	double	aError,
		double	aCurValue,
		double	aSimTime_sec )

Referenced by PID().

CalcOutputFromErrorWithLimits()

double wsf::six_dof::PID::CalcOutputFromErrorWithLimits	(	double	aError,
		double	aCurValue,
		double	aSimTime_sec,
		double	aMinOutput,
		double	aMaxOutput )

Referenced by PID().

CalcOutputFromTarget()

double wsf::six_dof::PID::CalcOutputFromTarget	(	double	aSetPoint,
		double	aCurValue,
		double	aSimTime_sec )

Referenced by PID().

CalcOutputFromTargetWithLimits()

double wsf::six_dof::PID::CalcOutputFromTargetWithLimits	(	double	aSetPoint,
		double	aCurValue,
		double	aSimTime_sec,
		double	aMinOutput,
		double	aMaxOutput )

Referenced by PID().

Clone()

wsf::six_dof::PID * wsf::six_dof::PID::Clone

(

)

const

References PID().

Referenced by operator=().

GetFeedForward()

bool wsf::six_dof::PID::GetFeedForward

(

double &

aFeedForward

)

Referenced by PID().

GetPidGainTableData()

std::vector< wsf::six_dof::PidGainData > * wsf::six_dof::PID::GetPidGainTableData

(

)

Referenced by wsf::six_dof::CommonController::AddNewPidGainElement(), wsf::six_dof::CommonController::GetAutopilotPidGainData(), wsf::six_dof::CommonController::GetAutopilotPidGainData(), PID(), wsf::six_dof::CommonController::SetPidAlpha(), wsf::six_dof::CommonController::SetPidGainKD(), wsf::six_dof::CommonController::SetPidGainKI(), wsf::six_dof::CommonController::SetPidGainKP(), and wsf::six_dof::CommonController::SetPidMaxAccum().

GetPidValueData()

void wsf::six_dof::PID::GetPidValueData

(

SinglePidValueData &

aData

)

const

References wsf::six_dof::SinglePidValueData::AccumError, wsf::six_dof::SinglePidValueData::CurrentValue, wsf::six_dof::SinglePidValueData::FFValue, wsf::six_dof::SinglePidValueData::FFValueValid, wsf::six_dof::SinglePidValueData::KdValue, wsf::six_dof::SinglePidValueData::KiValue, wsf::six_dof::SinglePidValueData::KpValue, wsf::six_dof::SinglePidValueData::OutputBase, wsf::six_dof::SinglePidValueData::OutputLimited, and wsf::six_dof::SinglePidValueData::SetPoint.

Referenced by PID().

GetUpdateInterval_sec()

double wsf::six_dof::PID::GetUpdateInterval_sec

(

)

Referenced by PID().

operator=()

PID & wsf::six_dof::PID::operator= ( const PID & other )

delete

References Clone(), and PID().

ProcessInput()

void wsf::six_dof::PID::ProcessInput

(

UtInputBlock &

aInputBlock

)

References wsf::six_dof::PidGainData::ControllingValue, wsf::six_dof::PidGainData::KdGain, wsf::six_dof::PidGainData::KiGain, wsf::six_dof::PidGainData::KpGain, wsf::six_dof::PidGainData::KtAntiWindup, wsf::six_dof::PidGainData::LowpassAlpha, wsf::six_dof::PidGainData::MaxAccum, wsf::six_dof::PidGainData::MaxErrorZero, wsf::six_dof::PidGainData::MinErrorZero, and SetPidGainTableData().

Referenced by PID().

ResetPidState()

void wsf::six_dof::PID::ResetPidState

(

)

References ResetPidTiming().

Referenced by PID(), and wsf::six_dof::CommonController::ResetAccumulatedPidData().

ResetPidTiming()

void wsf::six_dof::PID::ResetPidTiming

(

)

Referenced by PID(), wsf::six_dof::CommonController::ResetAllPidTimings(), and ResetPidState().

SetBias()

void wsf::six_dof::PID::SetBias

(

double

aBias

)

Referenced by PID().

SetControllingValue()

void wsf::six_dof::PID::SetControllingValue

(

double

aControllingValue

)

Referenced by PID().

SetCurrentValue()

void wsf::six_dof::PID::SetCurrentValue

(

double

aCurrentValue

)

Referenced by PID().

SetFeedForward()

void wsf::six_dof::PID::SetFeedForward

(

double

aFeedForward

)

Referenced by PID().

SetPidGainTableData()

void wsf::six_dof::PID::SetPidGainTableData

(

const std::vector< PidGainData > &

aDataTables

)

Referenced by PID(), ProcessInput(), and wsf::six_dof::CommonController::SetPidGainData().

SetTargetValue()

void wsf::six_dof::PID::SetTargetValue

(

double

aTargetValue

)

Referenced by PID().

TrySetUpdateInterval_sec()

bool wsf::six_dof::PID::TrySetUpdateInterval_sec

(

double

aInterval_sec

)

Referenced by PID().

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

• WsfSixDOF_PID.hpp
• WsfSixDOF_PID.cpp