hekateros::HekPid Class Reference

Inheritance diagram for hekateros::HekPid:

Public Member Functions
	HekPid (double fKp=HekTunePidKpDft, double fKi=HekTunePidKiDft, double fKd=HekTunePidKdDft, double fWi=WI_DFT)
	Default constructor. More...
	HekPid (const HekPid &src)
	Copy constructor.
virtual	~HekPid ()
	Destructor.
HekPid &	operator= (const HekPid &rhs)
	Assignment operator.
void	getKParams (double &fKp, double &fKi, double &fKd) const
	Get the position and velocity PID K parameters. More...
void	setKParams (const double fKp, const double fKi, const double fKd)
	Set the position and velocity PID K parameters. More...
double	getMaxDeltaVParam () const
	Get the maximum delta V (ramp) parameter (radians/second). More...
void	setMaxDeltaVParam (const double fMaxDeltaV)
	Set the maximum delta V (ramp) parameter (radians/second). More...
virtual void	specifySetPoint (double fJointGoalPos, double fJointGoalVel)
	Specify the PID set point. More...
virtual double	control (double fJointCurPos, double fJointCurVel, double fDt)
	Apply PID control. More...

Static Public Attributes
static const double	WI_DFT = 0.25
	integral sum of errors weight const

Protected Member Functions
virtual double	toOutput (double fJointTgtVel)
	Convert Control Variable to application-specific output value. More...

Protected Attributes
double	m_fMaxDeltaV
	maximum allowd delta v output
double	m_fJointGoalPos
	goal position (primary SP)
double	m_fJointGoalVel
	goal velocity (secondary SP)
double	m_fJointCurVel
	current velocity (secondary PV)

Detailed Description

Definition at line 69 of file hekPid.h.

Constructor & Destructor Documentation

hekateros::HekPid::HekPid ( double  fKp = HekTunePidKpDft, double  fKi = HekTunePidKiDft, double  fKd = HekTunePidKdDft, double  fWi = WI_DFT  )

inline

Default constructor.

Parameters

fKp	PID proportional constant.
fKi	PID integral constant.
fKd	PID derivative constant.
fWi	PID integral sum of errors weight constant.

Definition at line 85 of file hekPid.h.

References hekateros::HekTunePidDeltaVNoMax, m_fJointCurVel, m_fJointGoalPos, m_fJointGoalVel, and m_fMaxDeltaV.

                              :
      DynaPid(fKp, fKi, fKd, fWi)
    {
      m_fMaxDeltaV    = HekTunePidDeltaVNoMax;
      m_fJointGoalPos = 0.0;
      m_fJointGoalVel = 0.0;
      m_fJointCurVel  = 0.0;
    }

Member Function Documentation

virtual double hekateros::HekPid::control ( double  fJointCurPos, double  fJointCurVel, double  fDt  )

inlinevirtual

Apply PID control.

Parameters

fJointCurPos	Current joint position (radians). The primary Process Variable PV.
fJointCurVel	Current joint velocity (radians/second). The secondary PV.
dt	Delta time step (seconds).

Returns

Output.

Definition at line 203 of file hekPid.h.

References m_fJointCurVel.

Referenced by hekateros::HekKinJoint::nlmove(), hekateros::HekKinJointWristRot::nlmove(), hekateros::HekKinJoint::planMotion(), and hekateros::HekKinJointWristRot::planMotion().

    {
      m_fJointCurVel = fJointCurVel;
      return Control(fJointCurPos, fDt);
    }

void hekateros::HekPid::getKParams ( double &  fKp, double &  fKi, double &  fKd  ) const

inline

Get the position and velocity PID K parameters.

Parameters

[out]	fKp	Proportional gain parameter.
[out]	fKi	Integral gain parameter.
[out]	fKd	Derivative gain parameter.

Definition at line 137 of file hekPid.h.

    {
      fKp = m_fKp;
      fKi = m_fKi;
      fKd = m_fKd;
    }

double hekateros::HekPid::getMaxDeltaVParam ( ) const

inline

Get the maximum delta V (ramp) parameter (radians/second).

Returns

Maximum delta velocity.

Definition at line 165 of file hekPid.h.

References m_fMaxDeltaV.

    {
      return m_fMaxDeltaV;
    }

void hekateros::HekPid::setKParams ( const double  fKp, const double  fKi, const double  fKd  )

inline

Set the position and velocity PID K parameters.

Parameters

[in]	fKp	Proportional gain parameter.
[in]	fKi	Integral gain parameter.
[in]	fKd	Derivative gain parameter.

Returns

Definition at line 153 of file hekPid.h.

    {
      m_fKp = fKp;
      m_fKi = fKi;
      m_fKd = fKd;
    }

void hekateros::HekPid::setMaxDeltaVParam ( const double  fMaxDeltaV )

inline

Set the maximum delta V (ramp) parameter (radians/second).

Parameters

[in]

fMaxDeltaV

Maximum delta velocity.

Definition at line 175 of file hekPid.h.

References m_fMaxDeltaV, and specifySetPoint().

    {
      m_fMaxDeltaV = fMaxDeltaV;
    }

void HekPid::specifySetPoint ( double  fJointGoalPos, double  fJointGoalVel  )

virtual

Specify the PID set point.

The PID will control the primary postion Set Point SP through the velocity Control Variable CV. The PID will strive to reach the goal velocity (secondary SP) while achieving the primary SP.

Parameters

fJointGoalPos	New goal position set point (radians).
fJointGoalVel	New goal velocity set point (radians/second).

Definition at line 71 of file hekPid.cxx.

Referenced by hekateros::HekKinJoint::nlspecifyMove(), and setMaxDeltaVParam().

{ 
  DynaPid::SpecifySetPoint(fJointGoalPos, true);

  m_fJointGoalPos = fJointGoalPos;
  m_fJointGoalVel = fJointGoalVel;
}

double HekPid::toOutput ( double  fJointTgtVel )

protectedvirtual

Convert Control Variable to application-specific output value.

Parameters

fJointTgtVel

Raw joint target velocity (radians/second). The Control Variable CV from PID.

Returns

Target velocity.

Definition at line 79 of file hekPid.cxx.

References hekateros::fcap().

{
  double fMax = fabs(m_fJointGoalVel);

  // limit delta velocity
  if( m_fMaxDeltaV != HekTunePidDeltaVNoMax )
  {
    fCVJointTgtVel = fcap(fCVJointTgtVel, m_fJointCurVel-m_fMaxDeltaV,
                                          m_fJointCurVel+m_fMaxDeltaV);
  }

  return fcap(fCVJointTgtVel, -fMax, fMax);
}

---

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

• include/Hekateros/hekPid.h
• sw/libhekateros/hekPid.cxx