Interface for a generic control board device implementing a PID controller, with scaled arguments. More...

#include <yarp/dev/IPidControl.h>

Inheritance diagram for yarp::dev::IPidControl:

Public Member Functions
virtual	~IPidControl ()
	Destructor. More...

virtual bool	setPid (const PidControlTypeEnum &pidtype, int j, const Pid &pid)=0
	Set new pid value for a joint axis. More...

virtual bool	setPids (const PidControlTypeEnum &pidtype, const Pid *pids)=0
	Set new pid value on multiple axes. More...

virtual bool	setPidReference (const PidControlTypeEnum &pidtype, int j, double ref)=0
	Set the controller reference for a given axis. More...

virtual bool	setPidReferences (const PidControlTypeEnum &pidtype, const double *refs)=0
	Set the controller reference, multiple axes. More...

virtual bool	setPidErrorLimit (const PidControlTypeEnum &pidtype, int j, double limit)=0
	Set the error limit for the controller on a specifi joint. More...

virtual bool	setPidErrorLimits (const PidControlTypeEnum &pidtype, const double *limits)=0
	Get the error limit for the controller on all joints. More...

virtual bool	getPidError (const PidControlTypeEnum &pidtype, int j, double *err)=0
	Get the current error for a joint. More...

virtual bool	getPidErrors (const PidControlTypeEnum &pidtype, double *errs)=0
	Get the error of all joints. More...

virtual bool	getPidOutput (const PidControlTypeEnum &pidtype, int j, double *out)=0
	Get the output of the controller (e.g. More...

virtual bool	getPidOutputs (const PidControlTypeEnum &pidtype, double *outs)=0
	Get the output of the controllers (e.g. More...

virtual bool	getPid (const PidControlTypeEnum &pidtype, int j, Pid *pid)=0
	Get current pid value for a specific joint. More...

virtual bool	getPids (const PidControlTypeEnum &pidtype, Pid *pids)=0
	Get current pid value for a specific joint. More...

virtual bool	getPidReference (const PidControlTypeEnum &pidtype, int j, double *ref)=0
	Get the current reference of the pid controller for a specific joint. More...

virtual bool	getPidReferences (const PidControlTypeEnum &pidtype, double *refs)=0
	Get the current reference of all pid controllers. More...

virtual bool	getPidErrorLimit (const PidControlTypeEnum &pidtype, int j, double *limit)=0
	Get the error limit for the controller on a specific joint. More...

virtual bool	getPidErrorLimits (const PidControlTypeEnum &pidtype, double *limits)=0
	Get the error limit for all controllers. More...

virtual bool	resetPid (const PidControlTypeEnum &pidtype, int j)=0
	Reset the controller of a given joint, usually sets the current status of the joint as the reference value for the PID, and resets the integrator. More...

virtual bool	disablePid (const PidControlTypeEnum &pidtype, int j)=0
	Disable the pid computation for a joint. More...

virtual bool	enablePid (const PidControlTypeEnum &pidtype, int j)=0
	Enable the pid computation for a joint. More...

virtual bool	setPidOffset (const PidControlTypeEnum &pidtype, int j, double v)=0
	Set offset value for a given controller. More...

virtual bool	isPidEnabled (const PidControlTypeEnum &pidtype, int j, bool *enabled)=0
	Get the current status (enabled/disabled) of the pid. More...

Detailed Description

Interface for a generic control board device implementing a PID controller, with scaled arguments.

Definition at line 210 of file IPidControl.h.

Constructor & Destructor Documentation

◆ ~IPidControl()

virtual yarp::dev::IPidControl::~IPidControl ( )

inlinevirtual

Destructor.

Definition at line 216 of file IPidControl.h.

Member Function Documentation

◆ disablePid()

virtual bool yarp::dev::IPidControl::disablePid	(	const PidControlTypeEnum &	pidtype,
		int	j
	)

pure virtual

Disable the pid computation for a joint.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number

Returns: true on success, false on failure.

Implemented in ControlBoardWrapperPidControl, ControlBoardRemapper, yarp::dev::ImplementPidControl, and RemoteControlBoard.

◆ enablePid()

virtual bool yarp::dev::IPidControl::enablePid	(	const PidControlTypeEnum &	pidtype,
		int	j
	)

pure virtual

Enable the pid computation for a joint.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number

Returns: true on success, false on failure.

Implemented in ControlBoardWrapperPidControl, ControlBoardRemapper, yarp::dev::ImplementPidControl, and RemoteControlBoard.

◆ getPid()

virtual bool yarp::dev::IPidControl::getPid	(	const PidControlTypeEnum &	pidtype,
		int	j,
		Pid *	pid
	)

pure virtual

Get current pid value for a specific joint.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number
pid	pointer to storage for the return value.

Returns: success/failure

Implemented in ControlBoardWrapperPidControl, ControlBoardRemapper, yarp::dev::ImplementPidControl, and RemoteControlBoard.

◆ getPidError()

virtual bool yarp::dev::IPidControl::getPidError	(	const PidControlTypeEnum &	pidtype,
		int	j,
		double *	err
	)

pure virtual

Get the current error for a joint.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number
err	pointer to the storage for the return value

Returns: true/false on success failure

Implemented in ControlBoardWrapperPidControl, ControlBoardRemapper, yarp::dev::ImplementPidControl, and RemoteControlBoard.

◆ getPidErrorLimit()

virtual bool yarp::dev::IPidControl::getPidErrorLimit	(	const PidControlTypeEnum &	pidtype,
		int	j,
		double *	limit
	)

pure virtual

Get the error limit for the controller on a specific joint.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number
limit	pointer to storage

Returns: success/failure

Implemented in ControlBoardWrapperPidControl, ControlBoardRemapper, yarp::dev::ImplementPidControl, and RemoteControlBoard.

◆ getPidErrorLimits()

virtual bool yarp::dev::IPidControl::getPidErrorLimits	(	const PidControlTypeEnum &	pidtype,
		double *	limits
	)

pure virtual

Get the error limit for all controllers.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
limits	pointer to the array that will store the output

Returns: success or failure

Implemented in ControlBoardWrapperPidControl, ControlBoardRemapper, yarp::dev::ImplementPidControl, and RemoteControlBoard.

◆ getPidErrors()

virtual bool yarp::dev::IPidControl::getPidErrors	(	const PidControlTypeEnum &	pidtype,
		double *	errs
	)

pure virtual

Get the error of all joints.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
errs	pointer to the vector that will store the errors

Implemented in ControlBoardWrapperPidControl, ControlBoardRemapper, yarp::dev::ImplementPidControl, and RemoteControlBoard.

◆ getPidOutput()

virtual bool yarp::dev::IPidControl::getPidOutput	(	const PidControlTypeEnum &	pidtype,
		int	j,
		double *	out
	)

pure virtual

Get the output of the controller (e.g.

pwm value)

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number
out	pointer to storage for return value

Returns: success/failure

Implemented in ControlBoardWrapperPidControl, ControlBoardRemapper, yarp::dev::ImplementPidControl, and RemoteControlBoard.

◆ getPidOutputs()

virtual bool yarp::dev::IPidControl::getPidOutputs	(	const PidControlTypeEnum &	pidtype,
		double *	outs
	)

pure virtual

Get the output of the controllers (e.g.

pwm value)

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
outs	pinter to the vector that will store the output values

Implemented in ControlBoardWrapperPidControl, ControlBoardRemapper, yarp::dev::ImplementPidControl, and RemoteControlBoard.

◆ getPidReference()

virtual bool yarp::dev::IPidControl::getPidReference	(	const PidControlTypeEnum &	pidtype,
		int	j,
		double *	ref
	)

pure virtual

Get the current reference of the pid controller for a specific joint.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number
ref	pointer to storage for return value

Returns: reference value

Implemented in ControlBoardWrapperPidControl, ControlBoardRemapper, yarp::dev::ImplementPidControl, and RemoteControlBoard.

◆ getPidReferences()

virtual bool yarp::dev::IPidControl::getPidReferences	(	const PidControlTypeEnum &	pidtype,
		double *	refs
	)

pure virtual

Get the current reference of all pid controllers.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
refs	vector that will store the output.

Implemented in ControlBoardWrapperPidControl, ControlBoardRemapper, yarp::dev::ImplementPidControl, and RemoteControlBoard.

◆ getPids()

virtual bool yarp::dev::IPidControl::getPids	(	const PidControlTypeEnum &	pidtype,
		Pid *	pids
	)

pure virtual

Get current pid value for a specific joint.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
pids	vector that will store the values of the pids.

Returns: success/failure

Implemented in ControlBoardWrapperPidControl, ControlBoardRemapper, yarp::dev::ImplementPidControl, and RemoteControlBoard.

◆ isPidEnabled()

virtual bool yarp::dev::IPidControl::isPidEnabled	(	const PidControlTypeEnum &	pidtype,
		int	j,
		bool *	enabled
	)

pure virtual

Get the current status (enabled/disabled) of the pid.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number
enabled	the current status of the pid controller.

Returns: true on success, false on failure.

Implemented in ControlBoardWrapperPidControl, ControlBoardRemapper, yarp::dev::ImplementPidControl, and RemoteControlBoard.

◆ resetPid()

virtual bool yarp::dev::IPidControl::resetPid	(	const PidControlTypeEnum &	pidtype,
		int	j
	)

pure virtual

Reset the controller of a given joint, usually sets the current status of the joint as the reference value for the PID, and resets the integrator.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number

Returns: true on success, false on failure.

Implemented in ControlBoardWrapperPidControl, ControlBoardRemapper, yarp::dev::ImplementPidControl, and RemoteControlBoard.

◆ setPid()

virtual bool yarp::dev::IPidControl::setPid	(	const PidControlTypeEnum &	pidtype,
		int	j,
		const Pid &	pid
	)

pure virtual

Set new pid value for a joint axis.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number
pid	new pid value

Returns: true/false on success/failure

Implemented in ControlBoardWrapperPidControl, ControlBoardRemapper, yarp::dev::ImplementPidControl, and RemoteControlBoard.

◆ setPidErrorLimit()

virtual bool yarp::dev::IPidControl::setPidErrorLimit	(	const PidControlTypeEnum &	pidtype,
		int	j,
		double	limit
	)

pure virtual

Set the error limit for the controller on a specifi joint.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number
limit	limit value

Returns: true/false on success/failure

Implemented in ControlBoardWrapperPidControl, ControlBoardRemapper, yarp::dev::ImplementPidControl, and RemoteControlBoard.

◆ setPidErrorLimits()

virtual bool yarp::dev::IPidControl::setPidErrorLimits	(	const PidControlTypeEnum &	pidtype,
		const double *	limits
	)

pure virtual

Get the error limit for the controller on all joints.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
limits	pointer to the vector with the new limits

Returns: true/false on success/failure

Implemented in ControlBoardWrapperPidControl, ControlBoardRemapper, yarp::dev::ImplementPidControl, and RemoteControlBoard.

◆ setPidOffset()

virtual bool yarp::dev::IPidControl::setPidOffset	(	const PidControlTypeEnum &	pidtype,
		int	j,
		double	v
	)

pure virtual

Set offset value for a given controller.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number
v	the offset to be added to the output of the pid controller

Returns: true on success, false on failure.

Implemented in ControlBoardWrapperPidControl, ControlBoardRemapper, yarp::dev::ImplementPidControl, and RemoteControlBoard.

◆ setPidReference()

virtual bool yarp::dev::IPidControl::setPidReference	(	const PidControlTypeEnum &	pidtype,
		int	j,
		double	ref
	)

pure virtual

Set the controller reference for a given axis.

Warning this method can result in very large torques and should be used carefully. If you do not understand this warning you should avoid using this method. Have a look at other interfaces (e.g. position control).

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number
ref	new reference point

Returns: true/false upon success/failure

Implemented in ControlBoardWrapperPidControl, ControlBoardRemapper, yarp::dev::ImplementPidControl, and RemoteControlBoard.

◆ setPidReferences()

virtual bool yarp::dev::IPidControl::setPidReferences	(	const PidControlTypeEnum &	pidtype,
		const double *	refs
	)

pure virtual

Set the controller reference, multiple axes.

Warning this method can result in very large torques and should be used carefully. If you do not understand this warning you should avoid using this method. Have a look at other interfaces (e.g. position control).

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
refs	pointer to the vector that contains the new reference points.

Returns: true/false upon success/failure

Implemented in ControlBoardWrapperPidControl, ControlBoardRemapper, yarp::dev::ImplementPidControl, and RemoteControlBoard.

◆ setPids()

virtual bool yarp::dev::IPidControl::setPids	(	const PidControlTypeEnum &	pidtype,
		const Pid *	pids
	)

pure virtual

Set new pid value on multiple axes.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
pids	pointer to a vector of pids

Returns: true/false upon success/failure

Implemented in ControlBoardWrapperPidControl, ControlBoardRemapper, yarp::dev::ImplementPidControl, and RemoteControlBoard.

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

src/libYARP_dev/src/yarp/dev/IPidControl.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ~IPidControl()

Member Function Documentation

◆ disablePid()

◆ enablePid()

◆ getPid()

◆ getPidError()

◆ getPidErrorLimit()

◆ getPidErrorLimits()

◆ getPidErrors()

◆ getPidOutput()

◆ getPidOutputs()

◆ getPidReference()

◆ getPidReferences()

◆ getPids()

◆ isPidEnabled()

◆ resetPid()

◆ setPid()

◆ setPidErrorLimit()

◆ setPidErrorLimits()

◆ setPidOffset()

◆ setPidReference()

◆ setPidReferences()

◆ setPids()