okapi::IterativeControllerFactory Class Reference

#include <iterativeControllerFactory.hpp>

Static Public Member Functions
static IterativePosPIDController	posPID (double ikP, double ikI, double ikD, double ikBias=0, std::unique_ptr< Filter > iderivativeFilter=std::make_unique< PassthroughFilter >(), const std::shared_ptr< Logger > &ilogger=Logger::getDefaultLogger())
	Position PID controller.
static IterativeVelPIDController	velPID (double ikP, double ikD, double ikF=0, double ikSF=0, std::unique_ptr< VelMath > ivelMath=VelMathFactory::createPtr(imev5GreenTPR), std::unique_ptr< Filter > iderivativeFilter=std::make_unique< PassthroughFilter >(), const std::shared_ptr< Logger > &ilogger=Logger::getDefaultLogger())
	Velocity PD controller.
static IterativeMotorVelocityController	motorVelocity (Motor imotor, double ikP, double ikD, double ikF=0, double ikSF=0, std::unique_ptr< VelMath > ivelMath=VelMathFactory::createPtr(imev5GreenTPR), std::unique_ptr< Filter > iderivativeFilter=std::make_unique< PassthroughFilter >(), const std::shared_ptr< Logger > &ilogger=Logger::getDefaultLogger())
	Velocity PD controller that automatically writes to the motor.
static IterativeMotorVelocityController	motorVelocity (MotorGroup imotor, double ikP, double ikD, double ikF=0, double ikSF=0, std::unique_ptr< VelMath > ivelMath=VelMathFactory::createPtr(imev5GreenTPR), std::unique_ptr< Filter > iderivativeFilter=std::make_unique< PassthroughFilter >(), const std::shared_ptr< Logger > &ilogger=Logger::getDefaultLogger())
	Velocity PD controller that automatically writes to the motor.
static IterativeMotorVelocityController	motorVelocity (Motor imotor, std::shared_ptr< IterativeVelocityController< double, double > > icontroller)
	Velocity PD controller that automatically writes to the motor.
static IterativeMotorVelocityController	motorVelocity (MotorGroup imotor, std::shared_ptr< IterativeVelocityController< double, double > > icontroller)
	Velocity PD controller that automatically writes to the motor.

Detailed Description

Definition at line 17 of file iterativeControllerFactory.hpp.

Member Function Documentation

motorVelocity() [1/4]

static IterativeMotorVelocityController okapi::IterativeControllerFactory::motorVelocity ( Motor  imotor, double  ikP, double  ikD, double  ikF = 0, double  ikSF = 0, std::unique_ptr< VelMath >  ivelMath = VelMathFactory::createPtr(imev5GreenTPR), std::unique_ptr< Filter >  iderivativeFilter = std::make_unique< PassthroughFilter >(), const std::shared_ptr< Logger > &  ilogger = Logger::getDefaultLogger()  )

static

Velocity PD controller that automatically writes to the motor.

Parameters

imotor	output motor
ikP	proportional gain
ikD	derivative gain
ikF	feed-forward gain
ikSF	a feed-forward gain to counteract static friction
ivelMath	The VelMath.
iderivativeFilter	A filter for filtering the derivative term.
ilogger	The logger this instance will log to.

motorVelocity() [2/4]

static IterativeMotorVelocityController okapi::IterativeControllerFactory::motorVelocity ( Motor  imotor, std::shared_ptr< IterativeVelocityController< double, double > >  icontroller  )

static

Velocity PD controller that automatically writes to the motor.

Parameters

imotor	output motor
icontroller	controller to use

motorVelocity() [3/4]

static IterativeMotorVelocityController okapi::IterativeControllerFactory::motorVelocity ( MotorGroup  imotor, double  ikP, double  ikD, double  ikF = 0, double  ikSF = 0, std::unique_ptr< VelMath >  ivelMath = VelMathFactory::createPtr(imev5GreenTPR), std::unique_ptr< Filter >  iderivativeFilter = std::make_unique< PassthroughFilter >(), const std::shared_ptr< Logger > &  ilogger = Logger::getDefaultLogger()  )

static

Velocity PD controller that automatically writes to the motor.

Parameters

imotor	output motor
ikP	proportional gain
ikD	derivative gain
ikF	feed-forward gain
ikSF	a feed-forward gain to counteract static friction
ivelMath	The VelMath.
iderivativeFilter	A filter for filtering the derivative term.
ilogger	The logger this instance will log to.

motorVelocity() [4/4]

static IterativeMotorVelocityController okapi::IterativeControllerFactory::motorVelocity ( MotorGroup  imotor, std::shared_ptr< IterativeVelocityController< double, double > >  icontroller  )

static

Velocity PD controller that automatically writes to the motor.

Parameters

imotor	output motor
icontroller	controller to use

posPID()

static IterativePosPIDController okapi::IterativeControllerFactory::posPID ( double  ikP, double  ikI, double  ikD, double  ikBias = 0, std::unique_ptr< Filter >  iderivativeFilter = std::make_unique< PassthroughFilter >(), const std::shared_ptr< Logger > &  ilogger = Logger::getDefaultLogger()  )

static

Position PID controller.

Parameters

ikP	proportional gain
ikI	integral gain
ikD	derivative gain
ikBias	controller bias (constant offset added to the output)
iderivativeFilter	A filter for filtering the derivative term.
ilogger	The logger this instance will log to.

velPID()

static IterativeVelPIDController okapi::IterativeControllerFactory::velPID ( double  ikP, double  ikD, double  ikF = 0, double  ikSF = 0, std::unique_ptr< VelMath >  ivelMath = VelMathFactory::createPtr(imev5GreenTPR), std::unique_ptr< Filter >  iderivativeFilter = std::make_unique< PassthroughFilter >(), const std::shared_ptr< Logger > &  ilogger = Logger::getDefaultLogger()  )

static

Velocity PD controller.

Parameters

ikP	proportional gain
ikD	derivative gain
ikF	feed-forward gain
ikSF	a feed-forward gain to counteract static friction
iderivativeFilter	A filter for filtering the derivative term.
ilogger	The logger this instance will log to.

---

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

• include/okapi/impl/control/iterative/iterativeControllerFactory.hpp