GainScheduler Class Reference

A scheduler that interpolates and selects PID gains based on the current error. More...

#include <gain_scheduler.h>

Public Member Functions
void	addStep (float threshold, float kP, float kI, float kD, float slew=0.0f)
	Add a scheduling step.
PIDGains	getGains (float error) const
	Compute the correct gains based on the current error distance.
void	clear ()
	Clears the current schedules.

Detailed Description

A scheduler that interpolates and selects PID gains based on the current error.

Definition at line 19 of file gain_scheduler.h.

Member Function Documentation

addStep()

void GainScheduler::addStep	(	float	threshold,
		float	kP,
		float	kI,
		float	kD,
		float	slew = 0.0f
	)

Add a scheduling step.

Parameters

threshold	Max error for this step.
kP	Proportional gain.
kI	Integral gain.
kD	Derivative gain.
slew	Slew rate.

getGains()

PIDGains GainScheduler::getGains

(

float

error

)

const

Compute the correct gains based on the current error distance.

Parameters

error

The current positional or rotational error.

Returns

PIDGains Interpolated gains for this specific error level.

clear()

void GainScheduler::clear

(

)

Clears the current schedules.