okapi::ControllerRunner< Input, Output > Class Template Reference

#include <controllerRunner.hpp>

Public Member Functions
	ControllerRunner (const TimeUtil &itimeUtil, const std::shared_ptr< Logger > &ilogger=Logger::getDefaultLogger())
	A utility class that runs a closed-loop controller.
virtual Output	runUntilSettled (const Input itarget, AsyncController< Input, Output > &icontroller)
	Runs the controller until it has settled.
virtual Output	runUntilSettled (const Input itarget, IterativeController< Input, Output > &icontroller, ControllerOutput< Output > &ioutput)
	Runs the controller until it has settled.
virtual Output	runUntilAtTarget (const Input itarget, AsyncController< Input, Output > &icontroller)
	Runs the controller until it has reached its target, but not necessarily settled.
virtual Output	runUntilAtTarget (const Input itarget, IterativeController< Input, Output > &icontroller, ControllerOutput< Output > &ioutput)
	Runs the controller until it has reached its target, but not necessarily settled.

Protected Attributes
std::shared_ptr< Logger >	logger
std::unique_ptr< AbstractRate >	rate

Detailed Description

template<typename Input, typename Output>
class okapi::ControllerRunner< Input, Output >

Definition at line 17 of file controllerRunner.hpp.

Constructor & Destructor Documentation

ControllerRunner()

template<typename Input , typename Output >

okapi::ControllerRunner< Input, Output >::ControllerRunner ( const TimeUtil &  itimeUtil, const std::shared_ptr< Logger > &  ilogger = Logger::getDefaultLogger()  )

inlineexplicit

A utility class that runs a closed-loop controller.

Parameters

itimeUtil	The TimeUtil.
ilogger	The logger this instance will log to.

Definition at line 25 of file controllerRunner.hpp.

Member Function Documentation

runUntilAtTarget() [1/2]

template<typename Input , typename Output >

virtual Output okapi::ControllerRunner< Input, Output >::runUntilAtTarget ( const Input  itarget, AsyncController< Input, Output > &  icontroller  )

inlinevirtual

Runs the controller until it has reached its target, but not necessarily settled.

Parameters

itarget	the new target
icontroller	the controller to run

Returns

the error when settled

Definition at line 81 of file controllerRunner.hpp.

runUntilAtTarget() [2/2]

template<typename Input , typename Output >

virtual Output okapi::ControllerRunner< Input, Output >::runUntilAtTarget ( const Input  itarget, IterativeController< Input, Output > &  icontroller, ControllerOutput< Output > &  ioutput  )

inlinevirtual

Runs the controller until it has reached its target, but not necessarily settled.

Parameters

itarget	the new target
icontroller	the controller to run
ioutput	the output to write to

Returns

the error when settled

Definition at line 107 of file controllerRunner.hpp.

runUntilSettled() [1/2]

template<typename Input , typename Output >

virtual Output okapi::ControllerRunner< Input, Output >::runUntilSettled ( const Input  itarget, AsyncController< Input, Output > &  icontroller  )

inlinevirtual

Runs the controller until it has settled.

Parameters

itarget	the new target
icontroller	the controller to run

Returns

the error when settled

Definition at line 37 of file controllerRunner.hpp.

runUntilSettled() [2/2]

template<typename Input , typename Output >

virtual Output okapi::ControllerRunner< Input, Output >::runUntilSettled ( const Input  itarget, IterativeController< Input, Output > &  icontroller, ControllerOutput< Output > &  ioutput  )

inlinevirtual

Runs the controller until it has settled.

Parameters

itarget	the new target
icontroller	the controller to run
ioutput	the output to write to

Returns

the error when settled

Definition at line 58 of file controllerRunner.hpp.

Member Data Documentation

logger

template<typename Input , typename Output >

std::shared_ptr<Logger> okapi::ControllerRunner< Input, Output >::logger

protected

Definition at line 128 of file controllerRunner.hpp.

rate

template<typename Input , typename Output >

std::unique_ptr<AbstractRate> okapi::ControllerRunner< Input, Output >::rate

protected

Definition at line 129 of file controllerRunner.hpp.

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

• include/okapi/api/control/util/controllerRunner.hpp