okapi::PIDTuner class
#include <include/okapi/api/control/util/pidTuner.hpp>

Contents

Public types

struct Output

Constructors, destructors, conversion operators

PIDTuner(const std::shared_ptr<ControllerInput<double>>& iinput, const std::shared_ptr<ControllerOutput<double>>& ioutput, const TimeUtil& itimeUtil, QTime itimeout, std::int32_t igoal, double ikPMin, double ikPMax, double ikIMin, double ikIMax, double ikDMin, double ikDMax, std::size_t inumIterations = 5, std::size_t inumParticles = 16, double ikSettle = 1, double ikITAE = 2, const std::shared_ptr<Logger>& ilogger = Logger::getDefaultLogger())
~PIDTuner() virtual

Public functions

auto autotune() -> Output virtual

Protected types

struct Particle
struct ParticleSet

Protected static variables

static double inertia constexpr
static double confSelf constexpr
static double confSwarm constexpr
static int increment constexpr
static int divisor constexpr
static QTime loopDelta constexpr

Protected variables

std::shared_ptr<Logger> logger
TimeUtil timeUtil
std::shared_ptr<ControllerInput<double>> input
std::shared_ptr<ControllerOutput<double>> output
const QTime timeout
const std::int32_t goal
const double kPMin
const double kPMax
const double kIMin
const double kIMax
const double kDMin
const double kDMax
const std::size_t numIterations
const std::size_t numParticles
const double kSettle
const double kITAE