#include <yarp/dev/ImplementPidControl.h>

Inheritance diagram for yarp::dev::ImplementPidControl:

Public Member Functions
	ImplementPidControl (yarp::dev::IPidControlRaw *y)

virtual	~ImplementPidControl ()

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

bool	getPidErrorLimits (const PidControlTypeEnum &pidtype, double *refs) override
	Get the error limit for all controllers. More...

bool	resetPid (const PidControlTypeEnum &pidtype, int j) override
	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...

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

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

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

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

void	b ()

Public Member Functions inherited from yarp::dev::IPidControl
virtual	~IPidControl ()
	Destructor. More...

Protected Member Functions
bool	initialize (int size, const int amap, const double enc, const double zos, const double newtons, const double amps, const double dutys)
	Initialize the internal data and alloc memory. More...

bool	uninitialize ()
	Clean up internal data and memory. More...

bool	setConversionUnits (const PidControlTypeEnum &pidtype, const PidFeedbackUnitsEnum fbk_conv_units, const PidOutputUnitsEnum out_conv_units)

Protected Attributes
IPidControlRaw *	iPid

void *	helper

yarp::dev::impl::FixedSizeBuffersManager< double > *	doubleBuffManager

yarp::dev::impl::FixedSizeBuffersManager< yarp::dev::Pid > *	pidBuffManager

Detailed Description

Definition at line 31 of file ImplementPidControl.h.

Constructor & Destructor Documentation

◆ ImplementPidControl()

ImplementPidControl::ImplementPidControl ( yarp::dev::IPidControlRaw * y )

Definition at line 21 of file ImplementPidControl.cpp.

◆ ~ImplementPidControl()

ImplementPidControl::~ImplementPidControl ( )

virtual

Definition at line 29 of file ImplementPidControl.cpp.

Member Function Documentation

◆ b()

void yarp::dev::ImplementPidControl::b ( )

◆ disablePid()

bool ImplementPidControl::disablePid	(	const PidControlTypeEnum &	pidtype,
		int	j
	)

overridevirtual

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.

Implements yarp::dev::IPidControl.

Definition at line 320 of file ImplementPidControl.cpp.

◆ enablePid()

bool ImplementPidControl::enablePid	(	const PidControlTypeEnum &	pidtype,
		int	j
	)

overridevirtual

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.

Implements yarp::dev::IPidControl.

Definition at line 311 of file ImplementPidControl.cpp.

◆ getPid()

bool ImplementPidControl::getPid	(	const PidControlTypeEnum &	pidtype,
		int	j,
		Pid *	pid
	)

overridevirtual

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

Implements yarp::dev::IPidControl.

Definition at line 210 of file ImplementPidControl.cpp.

◆ getPidError()

bool ImplementPidControl::getPidError	(	const PidControlTypeEnum &	pidtype,
		int	j,
		double *	err
	)

overridevirtual

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

Implements yarp::dev::IPidControl.

Definition at line 148 of file ImplementPidControl.cpp.

◆ getPidErrorLimit()

bool ImplementPidControl::getPidErrorLimit	(	const PidControlTypeEnum &	pidtype,
		int	j,
		double *	limit
	)

overridevirtual

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

Implements yarp::dev::IPidControl.

Definition at line 276 of file ImplementPidControl.cpp.

◆ getPidErrorLimits()

bool ImplementPidControl::getPidErrorLimits	(	const PidControlTypeEnum &	pidtype,
		double *	limits
	)

overridevirtual

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

Implements yarp::dev::IPidControl.

Definition at line 291 of file ImplementPidControl.cpp.

◆ getPidErrors()

bool ImplementPidControl::getPidErrors	(	const PidControlTypeEnum &	pidtype,
		double *	errs
	)

overridevirtual

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

Implements yarp::dev::IPidControl.

Definition at line 162 of file ImplementPidControl.cpp.

◆ getPidOutput()

bool ImplementPidControl::getPidOutput	(	const PidControlTypeEnum &	pidtype,
		int	j,
		double *	out
	)

overridevirtual

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

Implements yarp::dev::IPidControl.

Definition at line 173 of file ImplementPidControl.cpp.

◆ getPidOutputs()

bool ImplementPidControl::getPidOutputs	(	const PidControlTypeEnum &	pidtype,
		double *	outs
	)

overridevirtual

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

Implements yarp::dev::IPidControl.

Definition at line 191 of file ImplementPidControl.cpp.

◆ getPidReference()

bool ImplementPidControl::getPidReference	(	const PidControlTypeEnum &	pidtype,
		int	j,
		double *	ref
	)

overridevirtual

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

Implements yarp::dev::IPidControl.

Definition at line 249 of file ImplementPidControl.cpp.

◆ getPidReferences()

bool ImplementPidControl::getPidReferences	(	const PidControlTypeEnum &	pidtype,
		double *	refs
	)

overridevirtual

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.

Implements yarp::dev::IPidControl.

Definition at line 264 of file ImplementPidControl.cpp.

◆ getPids()

bool ImplementPidControl::getPids	(	const PidControlTypeEnum &	pidtype,
		Pid *	pids
	)

overridevirtual

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

Implements yarp::dev::IPidControl.

Definition at line 226 of file ImplementPidControl.cpp.

◆ initialize()

bool ImplementPidControl::initialize	(	int	size,
		const int *	amap,
		const double *	enc,
		const double *	zos,
		const double *	newtons,
		const double *	amps,
		const double *	dutys
	)

protected

Initialize the internal data and alloc memory.

Parameters

size	is the number of controlled axes the driver deals with.
amap	is a lookup table mapping axes onto physical drivers.

Returns: true if initialized succeeded, false if it wasn't executed, or assert.

Definition at line 34 of file ImplementPidControl.cpp.

◆ isPidEnabled()

bool ImplementPidControl::isPidEnabled	(	const PidControlTypeEnum &	pidtype,
		int	j,
		bool *	enabled
	)

overridevirtual

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.

Implements yarp::dev::IPidControl.

Definition at line 340 of file ImplementPidControl.cpp.

◆ resetPid()

bool ImplementPidControl::resetPid	(	const PidControlTypeEnum &	pidtype,
		int	j
	)

overridevirtual

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.

Implements yarp::dev::IPidControl.

Definition at line 302 of file ImplementPidControl.cpp.

◆ setConversionUnits()

bool ImplementPidControl::setConversionUnits	(	const PidControlTypeEnum &	pidtype,
		const PidFeedbackUnitsEnum	fbk_conv_units,
		const PidOutputUnitsEnum	out_conv_units
	)

protected

Definition at line 349 of file ImplementPidControl.cpp.

◆ setPid()

bool ImplementPidControl::setPid	(	const PidControlTypeEnum &	pidtype,
		int	j,
		const Pid &	pid
	)

overridevirtual

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

Implements yarp::dev::IPidControl.

Definition at line 78 of file ImplementPidControl.cpp.

◆ setPidErrorLimit()

bool ImplementPidControl::setPidErrorLimit	(	const PidControlTypeEnum &	pidtype,
		int	j,
		double	limit
	)

overridevirtual

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

Implements yarp::dev::IPidControl.

Definition at line 127 of file ImplementPidControl.cpp.

◆ setPidErrorLimits()

bool ImplementPidControl::setPidErrorLimits	(	const PidControlTypeEnum &	pidtype,
		const double *	limits
	)

overridevirtual

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

Implements yarp::dev::IPidControl.

Definition at line 137 of file ImplementPidControl.cpp.

◆ setPidOffset()

bool ImplementPidControl::setPidOffset	(	const PidControlTypeEnum &	pidtype,
		int	j,
		double	v
	)

overridevirtual

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.

Implements yarp::dev::IPidControl.

Definition at line 329 of file ImplementPidControl.cpp.

◆ setPidReference()

bool ImplementPidControl::setPidReference	(	const PidControlTypeEnum &	pidtype,
		int	j,
		double	ref
	)

overridevirtual

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

Implements yarp::dev::IPidControl.

Definition at line 107 of file ImplementPidControl.cpp.

◆ setPidReferences()

bool ImplementPidControl::setPidReferences	(	const PidControlTypeEnum &	pidtype,
		const double *	refs
	)

overridevirtual

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

Implements yarp::dev::IPidControl.

Definition at line 117 of file ImplementPidControl.cpp.

◆ setPids()

bool ImplementPidControl::setPids	(	const PidControlTypeEnum &	pidtype,
		const Pid *	pids
	)

overridevirtual

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

Implements yarp::dev::IPidControl.

Definition at line 88 of file ImplementPidControl.cpp.

◆ uninitialize()

bool ImplementPidControl::uninitialize ( )

protected

Clean up internal data and memory.

Returns: true if uninitialization is executed, false otherwise.

Definition at line 55 of file ImplementPidControl.cpp.

Member Data Documentation

◆ doubleBuffManager

yarp::dev::impl::FixedSizeBuffersManager<double>* yarp::dev::ImplementPidControl::doubleBuffManager

protected

Definition at line 36 of file ImplementPidControl.h.

◆ helper

void* yarp::dev::ImplementPidControl::helper

protected

Definition at line 35 of file ImplementPidControl.h.

◆ iPid

IPidControlRaw* yarp::dev::ImplementPidControl::iPid

protected

Definition at line 34 of file ImplementPidControl.h.

◆ pidBuffManager

yarp::dev::impl::FixedSizeBuffersManager<yarp::dev::Pid>* yarp::dev::ImplementPidControl::pidBuffManager

protected

Definition at line 37 of file ImplementPidControl.h.

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

src/libYARP_dev/src/yarp/dev/ImplementPidControl.h
src/libYARP_dev/src/yarp/dev/ImplementPidControl.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ImplementPidControl()

◆ ~ImplementPidControl()

Member Function Documentation

◆ b()

◆ disablePid()

◆ enablePid()

◆ getPid()

◆ getPidError()

◆ getPidErrorLimit()

◆ getPidErrorLimits()

◆ getPidErrors()

◆ getPidOutput()

◆ getPidOutputs()

◆ getPidReference()

◆ getPidReferences()

◆ getPids()

◆ initialize()

◆ isPidEnabled()

◆ resetPid()

◆ setConversionUnits()

◆ setPid()

◆ setPidErrorLimit()

◆ setPidErrorLimits()

◆ setPidOffset()

◆ setPidReference()

◆ setPidReferences()

◆ setPids()

◆ uninitialize()

Member Data Documentation

◆ doubleBuffManager

◆ helper

◆ iPid

◆ pidBuffManager