iCub-main
pidfilter.cpp
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1 // -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
2 
3 /*
4 * Copyright (C) 2010 RobotCub Consortium, European Commission FP6 Project IST-004370
5 * Author: Lorenzo Natale
6 * email: lorenzo.natale@iit.it
7 * website: www.robotcub.org
8 * Permission is granted to copy, distribute, and/or modify this program
9 * under the terms of the GNU General Public License, version 2 or any
10 * later version published by the Free Software Foundation.
11 *
12 * A copy of the license can be found at
13 * http://www.robotcub.org/icub/license/gpl.txt
14 *
15 * This program is distributed in the hope that it will be useful, but
16 * WITHOUT ANY WARRANTY; without even the implied warranty of
17 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
18 * Public License for more details
19 */
28 #include "pidfilter.h"
29 
31 // Construction/Destruction
34 {
35  error_old=0;
36  Kp=0;
37  Kd=0;
38  Ki=0;
39 
40  Umax = 0.0;
41  Sn = 0.0;
42 }
43 
44 PidFilter::PidFilter(double kp,double kd,double ki,double u_max)
45 {
46  error_old=0;
47  Kp=kp;
48  Kd=kd;
49  Ki=ki;
50 
51  Umax = u_max;
52  Sn = 0.0;
53 }
54 
56 {
57 }
58 
60 {
61  error_old=f.error_old;
62  Kp=f.Kp;
63  Kd=f.Kd;
64  Ki=f.Ki;
65 
66  Umax = f.Umax;
67  Sn = f.Sn;
68 }
69 
71 {
72  error_old=f.error_old;
73  Kp=f.Kp;
74  Kd=f.Kd;
75  Ki=f.Ki;
76 
77  Umax = f.Umax;
78  Sn = f.Sn;
79 }
PidFilter::PidFilter
PidFilter(void)
Definition: pidfilter.cpp:33
PidFilter
Definition: pidfilter.h:33
PidFilter::operator=
void operator=(const PidFilter &f)
Definition: pidfilter.cpp:70
f
f
Definition: compute_ekf_sym.m:22
pidfilter.h
Header to implement the PID filter.
PidFilter::~PidFilter
virtual ~PidFilter(void)
Definition: pidfilter.cpp:55