PIDController Class Reference

A simple PID (Proportional-Integral-Derivative) controller implementation. More...

#include <PIDController.hpp>

Public Member Functions
double	get_output (double new_reference, double dt)
	Computes the control output for the given reference input.
	PIDController (double min_ref, double max_ref, double min_output, double max_output)
	Constructor.
void	reset ()
	Reset internal integrator and derivative state.
void	set_pid (double n_KP, double n_KI, double n_KD)
	Sets the PID gains.

Detailed Description

A simple PID (Proportional-Integral-Derivative) controller implementation.

Constructor & Destructor Documentation

PIDController()

PIDController	(	double	min_ref,
		double	max_ref,
		double	min_output,
		double	max_output )

Constructor.

Initializes the PID controller with output and reference range limits.

Parameters

min_ref	Minimum allowed input reference value.
max_ref	Maximum allowed input reference value.
min_output	Minimum output control value.
max_output	Maximum output control value.

Member Function Documentation

get_output()

double get_output	(	double	new_reference,
		double	dt )

Computes the control output for the given reference input.

Applies the PID formula and returns the control command within the specified output limits.

Parameters

new_reference	The current reference input value (e.g., error signal).
dt	Time elapsed since last call in seconds.

Returns

The computed control output.

reset()

void reset

(

)

Reset internal integrator and derivative state.

set_pid()

void set_pid	(	double	n_KP,
		double	n_KI,
		double	n_KD )

Sets the PID gains.

Parameters

n_KP	Proportional gain.
n_KI	Integral gain.
n_KD	Derivative gain.

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

• controllers/easynav_simple_controller/include/easynav_simple_controller/PIDController.hpp
• controllers/easynav_simple_controller/src/easynav_simple_controller/PIDController.cpp