osaPIDAntiWindup Class Reference

#include <osaPIDAntiWindup.h>

Public Types
enum	Errno { ESUCCESS, EFAILURE }

Public Member Functions
	osaPIDAntiWindup (const vctDynamicVector< double > &Kp, const vctDynamicVector< double > &Ki, const vctDynamicVector< double > &Kd, const vctDynamicVector< double > &Kt, const vctDynamicVector< double > &limits, const vctDynamicVector< double > &qinit)
	Main constructor. More...
osaPIDAntiWindup::Errno	Evaluate (const vctDynamicVector< double > &qs, const vctDynamicVector< double > &q, vctDynamicVector< double > &tau, double dt)
	Evaluate the control law. More...

Member Enumeration Documentation

enum osaPIDAntiWindup::Errno

Enumerator
ESUCCESS
EFAILURE

Constructor & Destructor Documentation

osaPIDAntiWindup::osaPIDAntiWindup	(	const vctDynamicVector< double > &	Kp,
		const vctDynamicVector< double > &	Ki,
		const vctDynamicVector< double > &	Kd,
		const vctDynamicVector< double > &	Kt,
		const vctDynamicVector< double > &	limits,
		const vctDynamicVector< double > &	qinit
	)

Main constructor.

Parameters

[in]	Kp	Vector of proportional gains
[in]	Ki	Vector of integral gains
[in]	Kd	Vector of derivative gains
[in]	Kt	Vector of anti-windup gains
[in]	limits	Vector of plant limits
[in]	qinit	Initial positions

Member Function Documentation

osaPIDAntiWindup::Errno osaPIDAntiWindup::Evaluate	(	const vctDynamicVector< double > &	qs,
		const vctDynamicVector< double > &	q,
		vctDynamicVector< double > &	tau,
		double	dt
	)

Evaluate the control law.

Parameters

[in]	qs	Desired joint positions
[in]	q	Current joint positions
[out]	tau	Joint forces/torques
	dt	Time interval

Returns

ESUCCESS if the evaluation was successful. EFAILURE otherwise

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

• /home/adeguet1/catkin_ws/src/cisst-saw/sawControllers/include/sawControllers/osaPIDAntiWindup.h