pidfilter.cpp

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// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
/* 
* Copyright (C) 2010 RobotCub Consortium, European Commission FP6 Project IST-004370
* Author: Lorenzo Natale
* email:  lorenzo.natale@iit.it
* website: www.robotcub.org
* Permission is granted to copy, distribute, and/or modify this program
* under the terms of the GNU General Public License, version 2 or any
* later version published by the Free Software Foundation.
*
* A copy of the license can be found at
* http://www.robotcub.org/icub/license/gpl.txt
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
* Public License for more details
*/
#include "pidfilter.h"
 
// Construction/Destruction
PidFilter::PidFilter(void)
{
    error_old=0;
    Kp=0;
    Kd=0;
    Ki=0;
 
    Umax = 0.0;
    Sn = 0.0;
}
 
PidFilter::PidFilter(double kp,double kd,double ki,double u_max)
{
    error_old=0;
    Kp=kp;
    Kd=kd;
    Ki=ki;
 
    Umax = u_max;
    Sn = 0.0;
}
 
PidFilter::~PidFilter(void)
{
}
 
PidFilter::PidFilter(const PidFilter& f)
{
    error_old=f.error_old;
    Kp=f.Kp;
    Kd=f.Kd;
    Ki=f.Ki;
 
    Umax = f.Umax;
    Sn = f.Sn;
}
 
void PidFilter::operator=(const PidFilter& f)
{
    error_old=f.error_old;
    Kp=f.Kp;
    Kd=f.Kd;
    Ki=f.Ki;
 
    Umax = f.Umax;
    Sn = f.Sn;
}