PI-D Controller class. More...

#include <pid.hpp>

Inheritance diagram for PID:

Collaboration diagram for PID:

Public Member Functions
	PID (const ControlParameters &params)
	Construct a new PID object.

void	path_callback (const custom_interfaces::msg::PathPointArray &msg) override
	Called when a new path is sent by Path Planning.

void	vehicle_state_callback (const custom_interfaces::msg::Velocities &msg) override
	Called when the car state (currently just velocity) is updated.

void	vehicle_pose_callback (const custom_interfaces::msg::Pose &msg) override
	Called when the car pose is updated by SLAM.

common_lib::structures::ControlCommand	get_throttle_command () override
	Returns the throttle command calculated by the solver (only throttle)

void	publish_solver_data (std::shared_ptr< rclcpp::Node > node, std::map< std::string, std::shared_ptr< rclcpp::PublisherBase > > &publisher_map) override
	Publishes solver specific data using the provided ControlNode.

	FRIEND_TEST (PidTests, TestAntiWindUp1)

	FRIEND_TEST (PidTests, TestAntiWindUp2)

	FRIEND_TEST (PidTests, TestAntiWindUp3)

	FRIEND_TEST (PidTests, ProportionalTerm)

	FRIEND_TEST (PidTests, IntegralTerm1)

	FRIEND_TEST (PidTests, IntegralTerm2)

	FRIEND_TEST (PidTests, DerivativeTerm1)

	FRIEND_TEST (PidTests, DerivativeTerm2)

	FRIEND_TEST (PidTests, Output1)

	FRIEND_TEST (PidTests, Output2)

	FRIEND_TEST (PidTests, Output3)

	FRIEND_TEST (PidTests, Update1)

Public Member Functions inherited from LongitudinalController
	LongitudinalController (const ControlParameters &params)

virtual	~LongitudinalController ()=default

Private Member Functions
double	calculate_error (double setpoint, double measurement) const
	Calculate the error signal.

void	calculate_proportional_term (double error)
	Calculate the proportional term.

void	calculate_integral_term (double error)
	Calculate the integral term.

void	anti_wind_up ()
	Anti-wind-up via dynamic integrator clamping.

void	calculate_derivative_term (double measurement)
	Calculate the derivative term (derivative on measurement)

void	compute_output ()
	Compute the output value and apply limits.

double	update (double setpoint, double measurement)
	Calculate the output value.

Private Attributes
std::vector< custom_interfaces::msg::PathPoint >	last_path_msg_

custom_interfaces::msg::Velocities	last_velocity_msg_

custom_interfaces::msg::Pose	last_pose_msg_

double	absolute_velocity_ = 0.0

bool	received_first_path_ = false

bool	received_first_state_ = false

bool	received_first_pose_ = false

double	proportional_ {0.0f}
	Proportional term current value.

double	integrator_ {0.0f}
	Integrator term current value.

double	differentiator_ {0.0f}
	Differentiator term current value.

double	prev_error_ {0.0f}
	Previous error value, required for integrator.

double	prev_measurement_ {0.0f}
	Previous measurement value, required for defferentiator.

double	out_ {0.0f}
	Current output value.

Additional Inherited Members
Protected Attributes inherited from LongitudinalController
std::shared_ptr< ControlParameters >	params_

Detailed Description

PI-D Controller class.

This class implements a PI-D controller. Its a PI-D because the P and I terms operates on the Error signal and the D works with the feedback signal (measurement).

Definition at line 18 of file pid.hpp.

Constructor & Destructor Documentation

◆ PID()

PID::PID ( const ControlParameters & params )

Construct a new PID object.

Parameters

params Control parameters

Definition at line 9 of file pid.cpp.

Member Function Documentation

◆ anti_wind_up()

void PID::anti_wind_up ( )

private

Anti-wind-up via dynamic integrator clamping.

Definition at line 77 of file pid.cpp.

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◆ calculate_derivative_term()

void PID::calculate_derivative_term ( double measurement )

private

Calculate the derivative term (derivative on measurement)

Parameters

measurement

Definition at line 84 of file pid.cpp.

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◆ calculate_error()

double PID::calculate_error	(	double	setpoint,
		double	measurement
	)		const

private

Calculate the error signal.

Parameters

setpoint
measurement

Returns: error (double)

Definition at line 56 of file pid.cpp.

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◆ calculate_integral_term()

void PID::calculate_integral_term ( double error )

private

Calculate the integral term.

Parameters

error

Definition at line 72 of file pid.cpp.

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◆ calculate_proportional_term()

void PID::calculate_proportional_term ( double error )

private

Calculate the proportional term.

Parameters

error

Definition at line 68 of file pid.cpp.

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◆ compute_output()

void PID::compute_output ( )

private

Compute the output value and apply limits.

Definition at line 91 of file pid.cpp.

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◆ FRIEND_TEST() [1/12]

PID::FRIEND_TEST	(	PidTests	,
		DerivativeTerm1
	)

◆ FRIEND_TEST() [2/12]

PID::FRIEND_TEST	(	PidTests	,
		DerivativeTerm2
	)

◆ FRIEND_TEST() [3/12]

PID::FRIEND_TEST	(	PidTests	,
		IntegralTerm1
	)

◆ FRIEND_TEST() [4/12]

PID::FRIEND_TEST	(	PidTests	,
		IntegralTerm2
	)

◆ FRIEND_TEST() [5/12]

PID::FRIEND_TEST	(	PidTests	,
		Output1
	)

◆ FRIEND_TEST() [6/12]

PID::FRIEND_TEST	(	PidTests	,
		Output2
	)

◆ FRIEND_TEST() [7/12]

PID::FRIEND_TEST	(	PidTests	,
		Output3
	)

◆ FRIEND_TEST() [8/12]

PID::FRIEND_TEST	(	PidTests	,
		ProportionalTerm
	)

◆ FRIEND_TEST() [9/12]

PID::FRIEND_TEST	(	PidTests	,
		TestAntiWindUp1
	)

◆ FRIEND_TEST() [10/12]

PID::FRIEND_TEST	(	PidTests	,
		TestAntiWindUp2
	)

◆ FRIEND_TEST() [11/12]

PID::FRIEND_TEST	(	PidTests	,
		TestAntiWindUp3
	)

◆ FRIEND_TEST() [12/12]

PID::FRIEND_TEST	(	PidTests	,
		Update1
	)

◆ get_throttle_command()

common_lib::structures::ControlCommand PID::get_throttle_command ( )

overridevirtual

Returns the throttle command calculated by the solver (only throttle)

Implements LongitudinalController.

Definition at line 117 of file pid.cpp.

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◆ path_callback()

void PID::path_callback ( const custom_interfaces::msg::PathPointArray & msg )

overridevirtual

Called when a new path is sent by Path Planning.

Implements LongitudinalController.

Definition at line 103 of file pid.cpp.

◆ publish_solver_data()

void PID::publish_solver_data	(	std::shared_ptr< rclcpp::Node >	node,
		std::map< std::string, std::shared_ptr< rclcpp::PublisherBase > > &	publisher_map
	)

overridevirtual

Publishes solver specific data using the provided ControlNode.

Parameters

node	shared pointer to the ControlNode
publisher_map	map of topic names to publisher pointers

Implements LongitudinalController.

Definition at line 136 of file pid.cpp.

◆ update()

double PID::update	(	double	setpoint,
		double	measurement
	)

private

Calculate the output value.

Parameters

setpoint	goal value
measurement	current value

Returns: double

Parameters

setpoint
measurement

Returns: double

Definition at line 19 of file pid.cpp.

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◆ vehicle_pose_callback()

void PID::vehicle_pose_callback ( const custom_interfaces::msg::Pose & msg )

overridevirtual

Called when the car pose is updated by SLAM.

Implements LongitudinalController.

Definition at line 112 of file pid.cpp.

◆ vehicle_state_callback()

void PID::vehicle_state_callback ( const custom_interfaces::msg::Velocities & msg )

overridevirtual

Called when the car state (currently just velocity) is updated.

Implements LongitudinalController.

Definition at line 107 of file pid.cpp.

Member Data Documentation

◆ absolute_velocity_

double PID::absolute_velocity_ = 0.0

private

Definition at line 23 of file pid.hpp.

◆ differentiator_

double PID::differentiator_ {0.0f}

private

Differentiator term current value.

Definition at line 31 of file pid.hpp.

◆ integrator_

double PID::integrator_ {0.0f}

private

Integrator term current value.

Definition at line 30 of file pid.hpp.

◆ last_path_msg_

std::vector<custom_interfaces::msg::PathPoint> PID::last_path_msg_

private

Definition at line 20 of file pid.hpp.

◆ last_pose_msg_

custom_interfaces::msg::Pose PID::last_pose_msg_

private

Definition at line 22 of file pid.hpp.

◆ last_velocity_msg_

custom_interfaces::msg::Velocities PID::last_velocity_msg_

private

Definition at line 21 of file pid.hpp.

◆ out_

double PID::out_ {0.0f}

private

Current output value.

Definition at line 36 of file pid.hpp.

◆ prev_error_

double PID::prev_error_ {0.0f}

private

Previous error value, required for integrator.

Definition at line 33 of file pid.hpp.

◆ prev_measurement_

double PID::prev_measurement_ {0.0f}

private

Previous measurement value, required for defferentiator.

Definition at line 34 of file pid.hpp.

◆ proportional_

double PID::proportional_ {0.0f}

private

Proportional term current value.

Definition at line 29 of file pid.hpp.

◆ received_first_path_

bool PID::received_first_path_ = false

private

Definition at line 25 of file pid.hpp.

◆ received_first_pose_

bool PID::received_first_pose_ = false

private

Definition at line 27 of file pid.hpp.

◆ received_first_state_

bool PID::received_first_state_ = false

private

Definition at line 26 of file pid.hpp.

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

src/control/include/longitudinal_controller/pid.hpp
src/control/src/longitudinal_controller/pid.cpp

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PID()

Member Function Documentation

◆ anti_wind_up()

◆ calculate_derivative_term()

◆ calculate_error()

◆ calculate_integral_term()

◆ calculate_proportional_term()

◆ compute_output()

◆ FRIEND_TEST() [1/12]

◆ FRIEND_TEST() [2/12]

◆ FRIEND_TEST() [3/12]

◆ FRIEND_TEST() [4/12]

◆ FRIEND_TEST() [5/12]

◆ FRIEND_TEST() [6/12]

◆ FRIEND_TEST() [7/12]

◆ FRIEND_TEST() [8/12]

◆ FRIEND_TEST() [9/12]

◆ FRIEND_TEST() [10/12]

◆ FRIEND_TEST() [11/12]

◆ FRIEND_TEST() [12/12]

◆ get_throttle_command()

◆ path_callback()

◆ publish_solver_data()

◆ update()

◆ vehicle_pose_callback()

◆ vehicle_state_callback()

Member Data Documentation

◆ absolute_velocity_

◆ differentiator_

◆ integrator_

◆ last_path_msg_

◆ last_pose_msg_

◆ last_velocity_msg_

◆ out_

◆ prev_error_

◆ prev_measurement_

◆ proportional_

◆ received_first_path_

◆ received_first_pose_

◆ received_first_state_