19 #ifndef GRPC_CORE_LIB_TRANSPORT_PID_CONTROLLER_H 20 #define GRPC_CORE_LIB_TRANSPORT_PID_CONTROLLER_H 39 double gain_p()
const {
return gain_p_; }
40 double gain_i()
const {
return gain_i_; }
41 double gain_d()
const {
return gain_d_; }
80 double initial_control_value_ = 0.0;
81 double min_control_value_ = std::numeric_limits<double>::min();
82 double max_control_value_ = std::numeric_limits<double>::max();
83 double integral_range_ = std::numeric_limits<double>::max();
93 error_integral_ = 0.0;
98 double Update(
double error,
double dt);
107 double last_error_ = 0.0;
108 double error_integral_ = 0.0;
109 double last_control_value_;
110 double last_dc_dt_ = 0.0;
Args & set_gain_i(double gain_i)
Definition: pid_controller.h:51
Args & set_initial_control_value(double initial_control_value)
Definition: pid_controller.h:59
Args & set_min_control_value(double min_control_value)
Definition: pid_controller.h:63
Definition: pid_controller.h:35
double Update(double error, double dt)
Update the controller: given a current error estimate, and the time since the last update...
PidController(const Args &args)
Definition: pid_controller.h:37
double integral_range() const
Definition: pid_controller.h:45
Internal thread interface.
Definition: backoff.h:26
double initial_control_value() const
Definition: pid_controller.h:42
Args & set_max_control_value(double max_control_value)
Definition: pid_controller.h:67
double error_integral() const
Returns the current error integral (mostly for testing)
Definition: pid_controller.h:104
double min_control_value() const
Definition: pid_controller.h:43
void Reset()
Reset the controller internal state: useful when the environment has changed significantly.
Definition: pid_controller.h:90
double gain_i() const
Definition: pid_controller.h:40
double gain_p() const
Definition: pid_controller.h:39
double max_control_value() const
Definition: pid_controller.h:44
Args & set_integral_range(double integral_range)
Definition: pid_controller.h:71
Args & set_gain_p(double gain_p)
Definition: pid_controller.h:47
double last_control_value() const
Returns the last control value calculated.
Definition: pid_controller.h:101
Args & set_gain_d(double gain_d)
Definition: pid_controller.h:55
double gain_d() const
Definition: pid_controller.h:41