chrono::utils::ChControllerPID Class Reference
Description
Simple PID controller.
Produces: out = P*in + D*d(in)/dt + I*int(in*dt)
#include <ChControllers.h>
Inheritance diagram for chrono::utils::ChControllerPID:
Collaboration diagram for chrono::utils::ChControllerPID:
Public Member Functions | |
| ChControllerPID (double P, double I, double D) | |
| ChControllerPID (const ChControllerPID &other) | |
| virtual ChControllerPID * | Clone () const override |
| "Virtual" copy constructor (covariant return type). | |
| void | SetGains (double P, double I, double D) |
| Set the controller gains. | |
| double | GetOutput (double input, double time) |
| Return the output of the controller. More... | |
| double | GetOutput () const |
| Return last computed output. | |
| void | Reset () |
| Use Reset to set accumulator to zero, at beginning. For integrative part. | |
 Public Member Functions inherited from chrono::ChObj | |
| ChObj (const ChObj &other) | |
| int | GetIdentifier () const |
| Get the unique integer identifier of this object. More... | |
| void | SetTag (int tag) |
| Set an object integer tag (default: -1). More... | |
| int | GetTag () const |
| Get the tag of this object. | |
| void | SetName (const std::string &myname) |
| Set the name of this object. | |
| const std::string & | GetName () const |
| Get the name of this object. | |
| double | GetChTime () const |
| Gets the simulation time of this object. | |
| void | SetChTime (double m_time) |
| Sets the simulation time of this object. | |
| void | AddVisualModel (std::shared_ptr< ChVisualModel > model) |
| Add an (optional) visualization model. More... | |
| std::shared_ptr< ChVisualModel > | GetVisualModel () const |
| Access the visualization model (if any). More... | |
| void | AddVisualShape (std::shared_ptr< ChVisualShape > shape, const ChFrame<> &frame=ChFrame<>()) |
| Add the specified visual shape to the visualization model. More... | |
| std::shared_ptr< ChVisualShape > | GetVisualShape (unsigned int i) const |
| Access the specified visualization shape in the visualization model (if any). More... | |
| void | AddVisualShapeFEA (std::shared_ptr< ChVisualShapeFEA > shapeFEA) |
| Add the specified FEA visualization object to the visualization model. More... | |
| std::shared_ptr< ChVisualShapeFEA > | GetVisualShapeFEA (unsigned int i) const |
| Access the specified FEA visualization object in the visualization model (if any). More... | |
| virtual ChFrame | GetVisualModelFrame (unsigned int nclone=0) const |
| Get the reference frame (expressed in and relative to the absolute frame) of the visual model. More... | |
| virtual unsigned int | GetNumVisualModelClones () const |
| Return the number of clones of the visual model associated with this object. More... | |
| void | AddCamera (std::shared_ptr< ChCamera > camera) |
| Attach a camera to this object. More... | |
| std::vector< std::shared_ptr< ChCamera > > | GetCameras () const |
| Get the set of cameras attached to this object. | |
| virtual void | Update (double time, bool update_assets) |
| Perform any updates necessary at the current phase during the solution process. More... | |
| void | UpdateVisualModel () |
| Utility function to update only the associated visual assets (if any). | |
| virtual void | ArchiveOut (ChArchiveOut &archive_out) |
| Method to allow serialization of transient data to archives. | |
| virtual void | ArchiveIn (ChArchiveIn &archive_in) |
| Method to allow de-serialization of transient data from archives. | |
| virtual std::string & | ArchiveContainerName () |
Additional Inherited Members | |
| Protected Member Functions inherited from chrono::ChObj | |
| int | GenerateUniqueIdentifier () |
| Protected Attributes inherited from chrono::ChObj | |
| double | ChTime |
| object simulation time | |
| std::string | m_name |
| object name | |
| int | m_identifier |
| object unique identifier | |
| int | m_tag |
| user-supplied tag | |
| std::shared_ptr< ChVisualModelInstance > | vis_model_instance |
| instantiated visualization model | |
| std::vector< std::shared_ptr< ChCamera > > | cameras |
| set of cameras | |
Member Function Documentation
◆ GetOutput()
| double chrono::utils::ChControllerPID::GetOutput | ( | double | input, |
| double | time | ||
| ) |
Return the output of the controller.
Calls to GetOutput must be done in (ideally) uniform time steps.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono/utils/ChControllers.h
- /builds/uwsbel/chrono/src/chrono/utils/ChControllers.cpp
