PIDsmoothedValue Class Reference

Calculation of the PID-value for a given target value, with or without boundary checks. More...

#include <PIDsmoothedValue.h>

List of all members.

Public Member Functions
	PIDsmoothedValue ()
	Default constructor contains default vaules and weights.
	PIDsmoothedValue (double value, double p, double i, double d, double min=-100, double max=100.0, double maxaction=100.0)
	Constructor for user chosen weights and value types as above in the default constructor.
void	setMin (double m)
	Set the min value.
void	setMax (double m)
	Set the max value.
void	setWeightP (double p)
	set the P-weight
void	setWeightI (double i)
	set the P-weight
void	setWeightD (double d)
	set the P-weight
double	approximateVal (double newTargetVal)
	Calculation of the PID-value to return thereby it will not just calculate the PID-sum but also ensure that it lies within the given boundaries.
double	addOffset (double offset)
double	setTo (double val)
double	apprDiscrVal (double targetVal, double time, double maxIteration)
	Discreet and iterative value calculation.
double	getVal ()
	return the - if necessary modified - PID-value
double	approximateValNew (double newTargetVal)
	Calculation of the PID-value to return, just an alternative approach without any boundary checks and the D-value is not just calculated by the change of the target to object difference but by the object position change.
double	apprContVal (double targetVal, double time)
	Calculate the PID value as a continuous function.
double	getWeightP ()
	get the P-weight
double	getWeightI ()
	get the I-weight
double	getWeightD ()
	get the D-weight
double	getMin ()
	get the Min-border
double	getMax ()
	get the Max-border
void	reset (void)
	reset all values and the sums necessary for its calculation
void	resetTo (double val)
	reset all values and the sums necessary for its calculation and set the value to val
Private Attributes
double	lastDifference
double	lastTargetVal
double	value
double	lastValue
bool	started
double	oldTargetVal
double	integralError
double	lastTime
double	p
double	i
double	d
double	min
double	max
double	maxaction

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Detailed Description

Calculation of the PID-value for a given target value, with or without boundary checks.

Definition at line 19 of file PIDsmoothedValue.h.

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Constructor & Destructor Documentation

PIDsmoothedValue::PIDsmoothedValue (   )

Default constructor contains default vaules and weights. Value types are: First result value = 0; P-weight,I-weight,D-weight, Min PID - Value, Max PID - Value, Max PID - value change since recent PID - value. Definition at line 21 of file PIDsmoothedValue.cpp. References max, and min.

PIDsmoothedValue::PIDsmoothedValue (  double  value, double  p, double  i, double  d, double  min = -100, double  max = 100.0, double  maxaction = 100.0 )

Constructor for user chosen weights and value types as above in the default constructor. Definition at line 31 of file PIDsmoothedValue.cpp. References max, and min.

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Member Function Documentation

void PIDsmoothedValue::setMin (  double  m  )

Set the min value. Definition at line 49 of file PIDsmoothedValue.cpp. References min.

void PIDsmoothedValue::setMax (  double  m  )

Set the max value. Definition at line 59 of file PIDsmoothedValue.cpp. References max.

void PIDsmoothedValue::setWeightP (  double  p  )

set the P-weight after using the constructor Definition at line 69 of file PIDsmoothedValue.cpp. References p. Referenced by ObstacleAvoiderOnGreenFieldERS7::handleMessage(), ObstacleAvoiderOnGreenField::handleMessage(), and GT2004MotionControl::handleMessage().

void PIDsmoothedValue::setWeightI (  double  i  )

set the P-weight after using the constructor Definition at line 79 of file PIDsmoothedValue.cpp. References i. Referenced by ObstacleAvoiderOnGreenFieldERS7::handleMessage(), and ObstacleAvoiderOnGreenField::handleMessage().

void PIDsmoothedValue::setWeightD (  double  d  )

set the P-weight after using the constructor Definition at line 89 of file PIDsmoothedValue.cpp. References d. Referenced by ObstacleAvoiderOnGreenFieldERS7::handleMessage(), and ObstacleAvoiderOnGreenField::handleMessage().

double PIDsmoothedValue::approximateVal (  double  targetVal  )

Calculation of the PID-value to return thereby it will not just calculate the PID-sum but also ensure that it lies within the given boundaries. Definition at line 101 of file PIDsmoothedValue.cpp. References d, i, integralError, lastDifference, lastValue, max, maxaction, min, p, and started. Referenced by apprDiscrVal(), ObstacleAvoiderOnGreenFieldERS7::execute(), ObstacleAvoiderOnGreenField::execute(), SpecialPerceptSelfLocator::execute(), GT2004BasicBehaviorGoToPointAndAvoidObstacles::execute(), resetTo(), and MotionStabilizer::stabilize().

double PIDsmoothedValue::addOffset (  double  offset  )

Definition at line 325 of file PIDsmoothedValue.cpp. References lastValue. Referenced by setTo().

double PIDsmoothedValue::setTo (  double  val  )

Definition at line 332 of file PIDsmoothedValue.cpp. References addOffset().

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double PIDsmoothedValue::apprDiscrVal (  double  targetVal, double  time, double  maxIteration )

Discreet and iterative value calculation. Definition at line 158 of file PIDsmoothedValue.cpp. References approximateVal(), lastValue, and resetTo().

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double PIDsmoothedValue::getVal (   )

return the - if necessary modified - PID-value Definition at line 287 of file PIDsmoothedValue.cpp. Referenced by ObstacleAvoiderOnGreenFieldERS7::execute(), ObstacleAvoiderOnGreenField::execute(), SpecialPerceptSelfLocator::execute(), and MotionStabilizer::stabilize().

double PIDsmoothedValue::approximateValNew (  double  newTargetVal  )

Calculation of the PID-value to return, just an alternative approach without any boundary checks and the D-value is not just calculated by the change of the target to object difference but by the object position change. During first tests the upper algorithm "approximateValue" showed a better convergence behavior that this one and is considered as the original algorithm Definition at line 193 of file PIDsmoothedValue.cpp. References d, i, integralError, lastTargetVal, p, and started.

double PIDsmoothedValue::apprContVal (  double  targetVal, double  time )

Calculate the PID value as a continuous function. Definition at line 227 of file PIDsmoothedValue.cpp. References d, i, integralError, lastDifference, lastValue, max, maxaction, min, p, and started.

double PIDsmoothedValue::getWeightP (   )

get the P-weight Definition at line 291 of file PIDsmoothedValue.cpp. References p.

double PIDsmoothedValue::getWeightI (   )

get the I-weight Definition at line 294 of file PIDsmoothedValue.cpp. References i.

double PIDsmoothedValue::getWeightD (   )

get the D-weight Definition at line 297 of file PIDsmoothedValue.cpp. References d.

double PIDsmoothedValue::getMin (   )

get the Min-border Definition at line 299 of file PIDsmoothedValue.cpp. References min.

double PIDsmoothedValue::getMax (   )

get the Max-border Definition at line 300 of file PIDsmoothedValue.cpp. References max.

void PIDsmoothedValue::reset (  void   )

reset all values and the sums necessary for its calculation Definition at line 307 of file PIDsmoothedValue.cpp. References integralError, lastTargetVal, and started. Referenced by resetTo().

void PIDsmoothedValue::resetTo (  double  val  )

reset all values and the sums necessary for its calculation and set the value to val Definition at line 318 of file PIDsmoothedValue.cpp. References approximateVal(), and reset(). Referenced by apprDiscrVal(), SpecialPerceptSelfLocator::execute(), and GT2004BasicBehaviorGoToPointAndAvoidObstacles::execute().

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Member Data Documentation

double PIDsmoothedValue::lastDifference [private]

Definition at line 22 of file PIDsmoothedValue.h. Referenced by apprContVal(), and approximateVal().

double PIDsmoothedValue::lastTargetVal [private]

Definition at line 23 of file PIDsmoothedValue.h. Referenced by approximateValNew(), and reset().

double PIDsmoothedValue::value [private]

Definition at line 24 of file PIDsmoothedValue.h.

double PIDsmoothedValue::lastValue [private]

Definition at line 25 of file PIDsmoothedValue.h. Referenced by addOffset(), apprContVal(), apprDiscrVal(), and approximateVal().

bool PIDsmoothedValue::started [private]

Definition at line 26 of file PIDsmoothedValue.h. Referenced by apprContVal(), approximateVal(), approximateValNew(), and reset().

double PIDsmoothedValue::oldTargetVal [private]

Definition at line 28 of file PIDsmoothedValue.h.

double PIDsmoothedValue::integralError [private]

Definition at line 29 of file PIDsmoothedValue.h. Referenced by apprContVal(), approximateVal(), approximateValNew(), and reset().

double PIDsmoothedValue::lastTime [private]

Definition at line 30 of file PIDsmoothedValue.h.

double PIDsmoothedValue::p [private]

Definition at line 32 of file PIDsmoothedValue.h. Referenced by apprContVal(), approximateVal(), approximateValNew(), getWeightP(), and setWeightP().

double PIDsmoothedValue::i [private]

Definition at line 33 of file PIDsmoothedValue.h. Referenced by apprContVal(), approximateVal(), approximateValNew(), getWeightI(), and setWeightI().

double PIDsmoothedValue::d [private]

Definition at line 34 of file PIDsmoothedValue.h. Referenced by apprContVal(), approximateVal(), approximateValNew(), getWeightD(), and setWeightD().

double PIDsmoothedValue::min [private]

Definition at line 35 of file PIDsmoothedValue.h. Referenced by apprContVal(), approximateVal(), getMin(), and setMin().

double PIDsmoothedValue::max [private]

Definition at line 36 of file PIDsmoothedValue.h. Referenced by apprContVal(), approximateVal(), getMax(), and setMax().

double PIDsmoothedValue::maxaction [private]

Definition at line 37 of file PIDsmoothedValue.h. Referenced by apprContVal(), and approximateVal().

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

• Tools/Math/PIDsmoothedValue.h
• Tools/Math/PIDsmoothedValue.cpp

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