Feedback< T, U > Class Template Reference

#include <feedback.h>

Description

template<typename T, typename U>
class Feedback< T, U >

pure virtual class for generic feedback control loops.

Parameters

T	the data type for states
U	the data type for output

Inheritance diagram for Feedback< T, U >:

Public Member Functions
virtual void	reset ()=0
	Resets the internal state of the control loop.
virtual U	update (const T &state, const T &reference, const units::Time &dt)=0
	Updates the control loop output.
U	get_output ()
	Gets the last saved output value.
U	get_last_error ()
	Gets the last saved error.
T	get_reference ()
	Gets the currently stored reference state.
T	get_state ()
	Gets the currently stored state.

Public Attributes
U	output_min_
U	output_max_

Protected Attributes
T	reference_
T	state_
T	last_error_
U	output_

Member Function Documentation

reset()

template<typename T, typename U>

virtual void Feedback< T, U >::reset ( )

pure virtual

Resets the internal state of the control loop.

Implemented in BangBang, LinearQuadraticRegulator< STATES, INPUTS >, PID< T, U >, PID< units::Angle, units::Voltage >, PID< units::AngularVelocity, units::Voltage >, PID< units::Length, units::Voltage >, and PID< units::Velocity, units::Voltage >.

update()

template<typename T, typename U>

virtual U Feedback< T, U >::update ( const T & state, const T & reference, const units::Time & dt )

pure virtual

Updates the control loop output.

Parameters

state	the current state the control system is at
reference	the target state for the control system
dt	the timestep since the last time this method was called

Returns

the controller output

Implemented in BangBang.

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The documentation for this class was generated from the following file:

• core/math/controls/feedback.h