template<typename Input, typename Output>
ControllerRunner class
Contents
Constructors, destructors, conversion operators
-
ControllerRunner(const TimeUtil& itimeUtil,
const std::shared_ptr<Logger>& ilogger = Logger::
getDefaultLogger()) explicit - A utility class that runs a closed-loop controller.
Public functions
- auto runUntilSettled(const Input itarget, AsyncController<Input, Output>& icontroller) -> Output virtual
- Runs the controller until it has settled.
- auto runUntilSettled(const Input itarget, IterativeController<Input, Output>& icontroller, ControllerOutput<Output>& ioutput) -> Output virtual
- Runs the controller until it has settled.
- auto runUntilAtTarget(const Input itarget, AsyncController<Input, Output>& icontroller) -> Output virtual
- Runs the controller until it has reached its target, but not necessarily settled.
- auto runUntilAtTarget(const Input itarget, IterativeController<Input, Output>& icontroller, ControllerOutput<Output>& ioutput) -> Output virtual
- Runs the controller until it has reached its target, but not necessarily settled.
Protected variables
- std::shared_ptr<Logger> logger
- std::unique_ptr<AbstractRate> rate
Function documentation
template<typename Input, typename Output>
okapi::
A utility class that runs a closed-loop controller.
| Parameters | |
|---|---|
| itimeUtil | The TimeUtil. |
| ilogger | The logger this instance will log to. |
template<typename Input, typename Output>
Output okapi::
Runs the controller until it has settled.
| Parameters | |
|---|---|
| itarget | the new target |
| icontroller | the controller to run |
| Returns | the error when settled |
template<typename Input, typename Output>
Output okapi::
Runs the controller until it has settled.
| Parameters | |
|---|---|
| itarget | the new target |
| icontroller | the controller to run |
| ioutput | the output to write to |
| Returns | the error when settled |
template<typename Input, typename Output>
Output okapi::
Runs the controller until it has reached its target, but not necessarily settled.
| Parameters | |
|---|---|
| itarget | the new target |
| icontroller | the controller to run |
| Returns | the error when settled |
template<typename Input, typename Output>
Output okapi::
Runs the controller until it has reached its target, but not necessarily settled.
| Parameters | |
|---|---|
| itarget | the new target |
| icontroller | the controller to run |
| ioutput | the output to write to |
| Returns | the error when settled |