okapi::SettledUtil Class Reference

#include <settledUtil.hpp>

Public Member Functions
	SettledUtil (std::unique_ptr< AbstractTimer > iatTargetTimer, double iatTargetError=50, double iatTargetDerivative=5, QTime iatTargetTime=250_ms)
	A utility class to determine if a control loop has settled based on error.
virtual	~SettledUtil ()
virtual bool	isSettled (double ierror)
	Returns whether the controller is settled.
virtual void	reset ()
	Resets the "at target" timer and clears the previous error.

Protected Attributes
double	atTargetError = 50
double	atTargetDerivative = 5
QTime	atTargetTime = 250_ms
std::unique_ptr< AbstractTimer >	atTargetTimer
double	lastError = 0

Detailed Description

Definition at line 13 of file settledUtil.hpp.

Constructor & Destructor Documentation

SettledUtil()

okapi::SettledUtil::SettledUtil ( std::unique_ptr< AbstractTimer >  iatTargetTimer, double  iatTargetError = 50, double  iatTargetDerivative = 5, QTime  iatTargetTime = 250_ms  )

explicit

A utility class to determine if a control loop has settled based on error.

A control loop is settled if the error is within iatTargetError and iatTargetDerivative for iatTargetTime.

Parameters

iatTargetTimer	A timer used to track iatTargetTime.
iatTargetError	The minimum error to be considered settled.
iatTargetDerivative	The minimum error derivative to be considered settled.
iatTargetTime	The minimum time within atTargetError to be considered settled.

~SettledUtil()

virtual okapi::SettledUtil::~SettledUtil ( )

virtual

Member Function Documentation

isSettled()

virtual bool okapi::SettledUtil::isSettled ( double  ierror )

virtual

Returns whether the controller is settled.

Parameters

ierror

The current error.

Returns

Whether the controller is settled.

reset()

virtual void okapi::SettledUtil::reset ( )

virtual

Resets the "at target" timer and clears the previous error.

Member Data Documentation

atTargetDerivative

double okapi::SettledUtil::atTargetDerivative = 5

protected

Definition at line 46 of file settledUtil.hpp.

atTargetError

double okapi::SettledUtil::atTargetError = 50

protected

Definition at line 45 of file settledUtil.hpp.

atTargetTime

QTime okapi::SettledUtil::atTargetTime = 250_ms

protected

Definition at line 47 of file settledUtil.hpp.

atTargetTimer

std::unique_ptr<AbstractTimer> okapi::SettledUtil::atTargetTimer

protected

Definition at line 48 of file settledUtil.hpp.

lastError

double okapi::SettledUtil::lastError = 0

protected

Definition at line 49 of file settledUtil.hpp.

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

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