LibXR::PID< Scalar >::Param Struct Reference

PID 参数结构体。 Structure holding PID parameters. More...

#include <pid.hpp>

Public Attributes
Scalar	k = 1.0
	全局比例因子 / Global gain
Scalar	p = 0.0
	比例项 / Proportional gain
Scalar	i = 0.0
	积分项 / Integral gain
Scalar	d = 0.0
	微分项 / Derivative gain
Scalar	i_limit = 0.0
	积分限幅 / Integral limit
Scalar	out_limit = 0.0
	输出限幅 / Output limit
bool	cycle = false
	是否处理周期误差 / Whether input is cyclic

Detailed Description

template<typename Scalar = DefaultScalar>
struct LibXR::PID< Scalar >::Param

PID 参数结构体。 Structure holding PID parameters.

Definition at line 33 of file pid.hpp.

Member Data Documentation

cycle

template<typename Scalar = DefaultScalar>

bool LibXR::PID< Scalar >::Param::cycle = false

是否处理周期误差 / Whether input is cyclic

Definition at line 41 of file pid.hpp.

d

template<typename Scalar = DefaultScalar>

Scalar LibXR::PID< Scalar >::Param::d = 0.0

微分项 / Derivative gain

Definition at line 38 of file pid.hpp.

i

template<typename Scalar = DefaultScalar>

Scalar LibXR::PID< Scalar >::Param::i = 0.0

积分项 / Integral gain

Definition at line 37 of file pid.hpp.

i_limit

template<typename Scalar = DefaultScalar>

Scalar LibXR::PID< Scalar >::Param::i_limit = 0.0

积分限幅 / Integral limit

Definition at line 39 of file pid.hpp.

k

template<typename Scalar = DefaultScalar>

Scalar LibXR::PID< Scalar >::Param::k = 1.0

全局比例因子 / Global gain

Definition at line 35 of file pid.hpp.

out_limit

template<typename Scalar = DefaultScalar>

Scalar LibXR::PID< Scalar >::Param::out_limit = 0.0

输出限幅 / Output limit

Definition at line 40 of file pid.hpp.

p

template<typename Scalar = DefaultScalar>

Scalar LibXR::PID< Scalar >::Param::p = 0.0

比例项 / Proportional gain

Definition at line 36 of file pid.hpp.

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

• src/utils/pid.hpp