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PID: Improve the API docs and change default value of antiwindup #202

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Jul 18, 2024
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PID: Improve the API docs and change default value of antiwindup #202

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9e1dbb1
Improve the API docs
christophfroehlich May 24, 2024
0603103
Merge branch 'ros2-master' into improve_docs
saikishor Jul 18, 2024
e29ebc1
Set antiwindup to true in this constructor specialization
christophfroehlich Jul 18, 2024
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47 changes: 40 additions & 7 deletions include/control_toolbox/pid.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -113,12 +113,34 @@ class CONTROL_TOOLBOX_PUBLIC Pid
*/
struct Gains
{
// Optional constructor for passing in values without antiwindup
/*!
* \brief Optional constructor for passing in values without antiwindup
*
* \param p The proportional gain.
* \param i The integral gain.
* \param d The derivative gain.
* \param i_max The max integral windup.
* \param i_min The min integral windup.
*
* \throws An std::invalid_argument exception is thrown if i_min > i_max
*/
Gains(double p, double i, double d, double i_max, double i_min)
: p_gain_(p), i_gain_(i), d_gain_(d), i_max_(i_max), i_min_(i_min), antiwindup_(false)
: p_gain_(p), i_gain_(i), d_gain_(d), i_max_(i_max), i_min_(i_min), antiwindup_(true)
{
}
// Optional constructor for passing in values

/*!
* \brief Optional constructor for passing in values
*
* \param p The proportional gain.
* \param i The integral gain.
* \param d The derivative gain.
* \param i_max The max integral windup.
* \param i_min The min integral windup.
* \param antiwindup If true, antiwindup is enabled and i_max/i_min are enforced
*
* \throws An std::invalid_argument exception is thrown if i_min > i_max
*/
Gains(double p, double i, double d, double i_max, double i_min, bool antiwindup)
: p_gain_(p), i_gain_(i), d_gain_(d), i_max_(i_max), i_min_(i_min), antiwindup_(antiwindup)
{
Expand All @@ -145,9 +167,9 @@ class CONTROL_TOOLBOX_PUBLIC Pid
* \param d The derivative gain.
* \param i_max The max integral windup.
* \param i_min The min integral windup.
* \param antiwindup If true, antiwindup is enabled and i_max/i_min are enforced
*
* \note
* An std::invalid_argument exception is thrown if i_min > i_max
* \throws An std::invalid_argument exception is thrown if i_min > i_max
*/
Pid(
double p = 0.0, double i = 0.0, double d = 0.0, double i_max = 0.0, double i_min = -0.0,
Expand All @@ -173,6 +195,7 @@ class CONTROL_TOOLBOX_PUBLIC Pid
* \param d The derivative gain.
* \param i_max The max integral windup.
* \param i_min The min integral windup.
* \param antiwindup If true, antiwindup is enabled and i_max/i_min are enforced
*
* \note New gains are not applied if i_min_ > i_max_
*/
Expand All @@ -192,6 +215,15 @@ class CONTROL_TOOLBOX_PUBLIC Pid
* \param i_min The min integral windup.
*/
void getGains(double & p, double & i, double & d, double & i_max, double & i_min);
/*!
* \brief Get PID gains for the controller.
* \param p The proportional gain.
* \param i The integral gain.
* \param d The derivative gain.
* \param i_max The max integral windup.
* \param i_min The min integral windup.
* \param antiwindup If true, antiwindup is enabled and i_max/i_min are enforced
*/
void getGains(
double & p, double & i, double & d, double & i_max, double & i_min, bool & antiwindup);

Expand All @@ -208,6 +240,7 @@ class CONTROL_TOOLBOX_PUBLIC Pid
* \param d The derivative gain.
* \param i_max The max integral windup.
* \param i_min The min integral windup.
* \param antiwindup If true, antiwindup is enabled and i_max/i_min are enforced
*
* \note New gains are not applied if i_min > i_max
*/
Expand All @@ -231,7 +264,7 @@ class CONTROL_TOOLBOX_PUBLIC Pid
*
* \returns PID command
*/
double computeCommand(double error, uint64_t dt);
[[nodiscard]] double computeCommand(double error, uint64_t dt);

/*!
* \brief Set the PID error and compute the PID command with nonuniform
Expand All @@ -244,7 +277,7 @@ class CONTROL_TOOLBOX_PUBLIC Pid
*
* \returns PID command
*/
double computeCommand(double error, double error_dot, uint64_t dt);
[[nodiscard]] double computeCommand(double error, double error_dot, uint64_t dt);

/*!
* \brief Set current command for this PID controller
Expand Down
2 changes: 1 addition & 1 deletion test/pid_tests.cpp
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Expand Up @@ -223,7 +223,7 @@ TEST(ParameterTest, gainSettingCopyPIDTest)

// Send update command to populate errors -------------------------------------------------
pid1.setCurrentCmd(10);
pid1.computeCommand(20, 1.0 * 1e9);
(void) pid1.computeCommand(20, 1.0 * 1e9);

// Test copy constructor -------------------------------------------------
Pid pid2(pid1);
Expand Down
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