okapi::PIDTuner Class Reference

#include <pidTuner.hpp>

Classes
struct	Output
struct	Particle
struct	ParticleSet

Public Member Functions
	PIDTuner (const std::shared_ptr< ControllerInput< double > > &iinput, const std::shared_ptr< ControllerOutput< double > > &ioutput, const TimeUtil &itimeUtil, QTime itimeout, std::int32_t igoal, double ikPMin, double ikPMax, double ikIMin, double ikIMax, double ikDMin, double ikDMax, std::size_t inumIterations=5, std::size_t inumParticles=16, double ikSettle=1, double ikITAE=2, const std::shared_ptr< Logger > &ilogger=Logger::getDefaultLogger())
virtual	~PIDTuner ()
virtual Output	autotune ()

Protected Attributes
std::shared_ptr< Logger >	logger
TimeUtil	timeUtil
std::shared_ptr< ControllerInput< double > >	input
std::shared_ptr< ControllerOutput< double > >	output
const QTime	timeout
const std::int32_t	goal
const double	kPMin
const double	kPMax
const double	kIMin
const double	kIMax
const double	kDMin
const double	kDMax
const std::size_t	numIterations
const std::size_t	numParticles
const double	kSettle
const double	kITAE

Static Protected Attributes
static constexpr double	inertia = 0.5
static constexpr double	confSelf = 1.1
static constexpr double	confSwarm = 1.2
static constexpr int	increment = 5
static constexpr int	divisor = 5
static constexpr QTime	loopDelta = 10_ms

Detailed Description

Definition at line 18 of file pidTuner.hpp.

Constructor & Destructor Documentation

PIDTuner()

okapi::PIDTuner::PIDTuner	(	const std::shared_ptr< ControllerInput< double > > &	iinput,
		const std::shared_ptr< ControllerOutput< double > > &	ioutput,
		const TimeUtil &	itimeUtil,
		QTime	itimeout,
		std::int32_t	igoal,
		double	ikPMin,
		double	ikPMax,
		double	ikIMin,
		double	ikIMax,
		double	ikDMin,
		double	ikDMax,
		std::size_t	inumIterations = 5,
		std::size_t	inumParticles = 16,
		double	ikSettle = 1,
		double	ikITAE = 2,
		const std::shared_ptr< Logger > &	ilogger = Logger::getDefaultLogger()
	)

~PIDTuner()

virtual okapi::PIDTuner::~PIDTuner ( )

virtual

Member Function Documentation

autotune()

virtual Output okapi::PIDTuner::autotune ( )

virtual

Member Data Documentation

confSelf

constexpr double okapi::PIDTuner::confSelf = 1.1

staticconstexprprotected

Definition at line 47 of file pidTuner.hpp.

confSwarm

constexpr double okapi::PIDTuner::confSwarm = 1.2

staticconstexprprotected

Definition at line 48 of file pidTuner.hpp.

divisor

constexpr int okapi::PIDTuner::divisor = 5

staticconstexprprotected

Definition at line 50 of file pidTuner.hpp.

goal

const std::int32_t okapi::PIDTuner::goal

protected

Definition at line 68 of file pidTuner.hpp.

increment

constexpr int okapi::PIDTuner::increment = 5

staticconstexprprotected

Definition at line 49 of file pidTuner.hpp.

inertia

constexpr double okapi::PIDTuner::inertia = 0.5

staticconstexprprotected

Definition at line 46 of file pidTuner.hpp.

input

std::shared_ptr<ControllerInput<double> > okapi::PIDTuner::input

protected

Definition at line 64 of file pidTuner.hpp.

kDMax

const double okapi::PIDTuner::kDMax

protected

Definition at line 74 of file pidTuner.hpp.

kDMin

const double okapi::PIDTuner::kDMin

protected

Definition at line 73 of file pidTuner.hpp.

kIMax

const double okapi::PIDTuner::kIMax

protected

Definition at line 72 of file pidTuner.hpp.

kIMin

const double okapi::PIDTuner::kIMin

protected

Definition at line 71 of file pidTuner.hpp.

kITAE

const double okapi::PIDTuner::kITAE

protected

Definition at line 78 of file pidTuner.hpp.

kPMax

const double okapi::PIDTuner::kPMax

protected

Definition at line 70 of file pidTuner.hpp.

kPMin

const double okapi::PIDTuner::kPMin

protected

Definition at line 69 of file pidTuner.hpp.

kSettle

const double okapi::PIDTuner::kSettle

protected

Definition at line 77 of file pidTuner.hpp.

logger

std::shared_ptr<Logger> okapi::PIDTuner::logger

protected

Definition at line 62 of file pidTuner.hpp.

loopDelta

constexpr QTime okapi::PIDTuner::loopDelta = 10_ms

staticconstexprprotected

Definition at line 51 of file pidTuner.hpp.

numIterations

const std::size_t okapi::PIDTuner::numIterations

protected

Definition at line 75 of file pidTuner.hpp.

numParticles

const std::size_t okapi::PIDTuner::numParticles

protected

Definition at line 76 of file pidTuner.hpp.

output

std::shared_ptr<ControllerOutput<double> > okapi::PIDTuner::output

protected

Definition at line 65 of file pidTuner.hpp.

timeout

const QTime okapi::PIDTuner::timeout

protected

Definition at line 67 of file pidTuner.hpp.

timeUtil

TimeUtil okapi::PIDTuner::timeUtil

protected

Definition at line 63 of file pidTuner.hpp.

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

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