dither.cpp
/tmp/ws/src/control_toolbox/src/
dither_8cpp.html
control_toolbox/dither.h
control_toolbox
dither.h
/tmp/ws/src/control_toolbox/include/control_toolbox/
dither_8h.html
control_toolbox::Dither
control_toolbox
filters.h
/tmp/ws/src/control_toolbox/include/control_toolbox/
filters_8h.html
filters
static const T &
clamp
namespacefilters.html
ac558228b7f0e0dfa0f64dea5a9ad5fd5
(const T &a, const T &b, const T &c)
static double
exponentialSmoothing
namespacefilters.html
a40b9d9eea47f418d18914b8517a78c0d
(double current_raw_value, double last_smoothed_value, double alpha)
limited_proxy.cpp
/tmp/ws/src/control_toolbox/src/
limited__proxy_8cpp.html
control_toolbox/limited_proxy.h
control_toolbox
static void
calcDynamics1storder
namespacecontrol__toolbox.html
a6636163a803b4c8edec492c53bb1df4d
(double &a, double &dadv, double v, double lam, double)
static void
calcDynamics2ndorder
namespacecontrol__toolbox.html
a747f96feedd6efed7a4e4de54516b620
(double &a, double &dadp, double &dadv, double p, double v, double lam, double acon)
limited_proxy.h
/tmp/ws/src/control_toolbox/include/control_toolbox/
limited__proxy_8h.html
control_toolbox::LimitedProxy
control_toolbox
pid.cpp
/tmp/ws/src/control_toolbox/src/
pid_8cpp.html
control_toolbox/pid.h
control_toolbox
static const std::string
DEFAULT_NAMESPACE
namespacecontrol__toolbox.html
a62497285352e7f148ec335683b361b95
pid.h
/tmp/ws/src/control_toolbox/include/control_toolbox/
pid_8h.html
control_toolbox::Pid::Gains
control_toolbox::Pid
control_toolbox
pid_gains_setter.cpp
/tmp/ws/src/control_toolbox/src/
pid__gains__setter_8cpp.html
control_toolbox/pid_gains_setter.h
control_toolbox
pid_gains_setter.h
/tmp/ws/src/control_toolbox/include/control_toolbox/
pid__gains__setter_8h.html
control_toolbox/pid.h
control_toolbox::PidGainsSetter
control_toolbox
pid_tests.cpp
/tmp/ws/src/control_toolbox/test/
pid__tests_8cpp.html
control_toolbox/pid.h
int
main
pid__tests_8cpp.html
a3c04138a5bfe5d72780bb7e82a18e627
(int argc, char **argv)
TEST
pid__tests_8cpp.html
a438ad12f7df899a9fd4b7a316028d272
(CommandTest, completePIDTest)
TEST
pid__tests_8cpp.html
ac91e4cc5f19fed6558ad870728cf8c82
(CommandTest, derivativeOnlyTest)
TEST
pid__tests_8cpp.html
ab2bdb13a2fa235684d03d7a43636cbf2
(CommandTest, integralOnlyTest)
TEST
pid__tests_8cpp.html
a4e06555c90bf3e4f9f4dfabac7d0b1f9
(CommandTest, proportionalOnlyTest)
TEST
pid__tests_8cpp.html
a4ba61e85c49d2045118829a8a85f17b1
(CommandTest, resetWithInitialValuesTest)
TEST
pid__tests_8cpp.html
ab77c6f0a4354877d8045b6238ef26a31
(ParameterTest, gainSettingCopyPIDTest)
TEST
pid__tests_8cpp.html
ad7f831a9ef46137c7372a7423851c3f3
(ParameterTest, integrationAntiwindupTest)
TEST
pid__tests_8cpp.html
ad103c7a2a5a1f0b7c229f026d069484b
(ParameterTest, integrationClampTest)
TEST
pid__tests_8cpp.html
ab673b2e9feb4eaa400f717ed65b2f2b3
(ParameterTest, integrationClampZeroGainTest)
TEST
pid__tests_8cpp.html
ab2dd3b55ff0c40de8b02f48c5c9c29e4
(ParameterTest, ITermBadIBoundsTest)
TEST
pid__tests_8cpp.html
a9af693ec47302337303434c450241456
(ParameterTest, negativeIntegrationAntiwindupTest)
sine_sweep.cpp
/tmp/ws/src/control_toolbox/src/
sine__sweep_8cpp.html
control_toolbox/sine_sweep.h
control_toolbox
sine_sweep.h
/tmp/ws/src/control_toolbox/include/control_toolbox/
sine__sweep_8h.html
control_toolbox::SineSweep
control_toolbox
sinusoid.cpp
/tmp/ws/src/control_toolbox/src/
sinusoid_8cpp.html
control_toolbox/sinusoid.h
control_toolbox
sinusoid.h
/tmp/ws/src/control_toolbox/include/control_toolbox/
sinusoid_8h.html
control_toolbox::Sinusoid
control_toolbox
tune_pid.py
/tmp/ws/src/control_toolbox/scripts/
tune__pid_8py.html
tune_pid
def
main
namespacetune__pid.html
a9d89e9ad89cb0af6396ee2a762b9c484
()
def
print_usage
namespacetune__pid.html
a837728d87bac992883f5449aa75b1c6f
(exit_code=0)
control_toolbox::Dither
classcontrol__toolbox_1_1Dither.html
Dither
classcontrol__toolbox_1_1Dither.html
ac07a44359384b30f20f6bef3c20ec974
()
bool
init
classcontrol__toolbox_1_1Dither.html
ab4ae13597f908073f39440c22f2f52ff
(const double &litude, const double &seed)
double
update
classcontrol__toolbox_1_1Dither.html
a782f59e37dd7ab8219b3e24ddf17ed57
()
~Dither
classcontrol__toolbox_1_1Dither.html
ac3f5be050d23a37bb62ffb876ca8b51a
()
static double
generateRandomSeed
classcontrol__toolbox_1_1Dither.html
a67c87ca4995798c363e8414ca32da5f6
()
double
amplitude_
classcontrol__toolbox_1_1Dither.html
a182f503ad0ba8dcce746a80365269121
std::mt19937
generator_
classcontrol__toolbox_1_1Dither.html
ac3aca2be89d81f2fbd9d0d300bd09ed0
bool
has_saved_value_
classcontrol__toolbox_1_1Dither.html
a182728e8c95dda7f6a9899b5b63fb040
double
s_
classcontrol__toolbox_1_1Dither.html
a5fccc7b3f9a5601b60e2fca9ff6a4222
double
saved_value_
classcontrol__toolbox_1_1Dither.html
a1d3599b39eb0b3ddd692be5b5ff7e58c
double
x_
classcontrol__toolbox_1_1Dither.html
a6052423b418e1a61fc4fd5df13aff332
control_toolbox::Pid::Gains
structcontrol__toolbox_1_1Pid_1_1Gains.html
Gains
structcontrol__toolbox_1_1Pid_1_1Gains.html
a2d2560045dbc14d67ee93f521664e735
()
Gains
structcontrol__toolbox_1_1Pid_1_1Gains.html
aacc6fccf86be18ac186389c9f2ece52c
(double p, double i, double d, double i_max, double i_min)
Gains
structcontrol__toolbox_1_1Pid_1_1Gains.html
a59a72fec1a1b07fa99d55aed11c9dd3d
(double p, double i, double d, double i_max, double i_min, bool antiwindup)
bool
antiwindup_
structcontrol__toolbox_1_1Pid_1_1Gains.html
ab481349944d663c13a57bc64bb146958
double
d_gain_
structcontrol__toolbox_1_1Pid_1_1Gains.html
a2003aa558f39fbba6a4658ec80402427
double
i_gain_
structcontrol__toolbox_1_1Pid_1_1Gains.html
a5682fcd3a75dcfdf7f242522f702444b
double
i_max_
structcontrol__toolbox_1_1Pid_1_1Gains.html
aea997696600eb3bd5449724faa2c0502
double
i_min_
structcontrol__toolbox_1_1Pid_1_1Gains.html
a26a4c582a7de6d94fc9c924a074d5423
double
p_gain_
structcontrol__toolbox_1_1Pid_1_1Gains.html
afeffd31867aca36a7437ab86bbdf579a
control_toolbox::LimitedProxy
classcontrol__toolbox_1_1LimitedProxy.html
LimitedProxy
classcontrol__toolbox_1_1LimitedProxy.html
a7b81a8fbfb0f25c4838164a8a73377f5
()
void
reset
classcontrol__toolbox_1_1LimitedProxy.html
a6ae62d76967b9a9117653c3e39f1048e
(double pos_act, double vel_act)
double
update
classcontrol__toolbox_1_1LimitedProxy.html
a62434d769b752b06ede420c514f0ec6b
(double pos_des, double vel_des, double acc_des, double pos_act, double vel_act, double dt)
double
acc_converge_
classcontrol__toolbox_1_1LimitedProxy.html
ac2864d216dc9cafb0a545422b77a5ea4
double
effort_limit_
classcontrol__toolbox_1_1LimitedProxy.html
ae1565bc65562a69a8a98413f6ea1836c
double
Ficl_
classcontrol__toolbox_1_1LimitedProxy.html
af9623015d5807c225cf2f994b04c2ee1
double
Kd_
classcontrol__toolbox_1_1LimitedProxy.html
a477eadf723c68624f0a08cab1dcc66d0
double
Ki_
classcontrol__toolbox_1_1LimitedProxy.html
a26af4eb37b8d0e2604a17dc34d225c87
double
Kp_
classcontrol__toolbox_1_1LimitedProxy.html
a4f8d2aa290539b3907b721055ef79c8e
double
lambda_proxy_
classcontrol__toolbox_1_1LimitedProxy.html
aaf625b6ef9f370cc27cab4c6f60863d9
double
mass_
classcontrol__toolbox_1_1LimitedProxy.html
a618d59c9c9f65a6e8e0847660505b988
double
pos_lower_limit_
classcontrol__toolbox_1_1LimitedProxy.html
a4f02ba840cb23eec1ec797f0f950958c
double
pos_upper_limit_
classcontrol__toolbox_1_1LimitedProxy.html
a5611fbbca81ce96bc6cee791182e2c43
double
vel_limit_
classcontrol__toolbox_1_1LimitedProxy.html
abb1ce3f702026a9c40717de3022d788e
double
last_int_error_
classcontrol__toolbox_1_1LimitedProxy.html
adb795e1b9f736e03cb17a1d3f6d3b9c7
double
last_pos_error_
classcontrol__toolbox_1_1LimitedProxy.html
af714f0aaf0e39f730845b997b667160e
double
last_proxy_acc_
classcontrol__toolbox_1_1LimitedProxy.html
a7a5b6b18b8e2f88041ed9e6c72ca6b82
double
last_proxy_pos_
classcontrol__toolbox_1_1LimitedProxy.html
ae9e7a250f38573784cd4eca7617addde
double
last_proxy_vel_
classcontrol__toolbox_1_1LimitedProxy.html
a4438855f43ad8f345c4a07e074e55be9
double
last_vel_error_
classcontrol__toolbox_1_1LimitedProxy.html
a21281ae1dfa6ac5dc474d359e3e4d651
control_toolbox::Pid
classcontrol__toolbox_1_1Pid.html
control_toolbox::Pid::Gains
double
computeCommand
classcontrol__toolbox_1_1Pid.html
ab3659453dbdf1b4261cc56f4cb2f5bf1
(double error, double error_dot, ros::Duration dt)
double
computeCommand
classcontrol__toolbox_1_1Pid.html
a8956ddfd932118d3010ee6ccbf53fb6e
(double error, ros::Duration dt)
void
dynamicReconfigCallback
classcontrol__toolbox_1_1Pid.html
a3b79f18bfe3871abe1d6390df4cef7fd
(control_toolbox::ParametersConfig &config, uint32_t)
double
getCurrentCmd
classcontrol__toolbox_1_1Pid.html
a78b3994058cd96de4c227a9893640b12
()
void
getCurrentPIDErrors
classcontrol__toolbox_1_1Pid.html
a71f8db012a3b70b4ada0e3d70ee851dc
(double *pe, double *ie, double *de)
Gains
getGains
classcontrol__toolbox_1_1Pid.html
a35c4bcfb5a7a3626c39529d3267a3b3d
()
void
getGains
classcontrol__toolbox_1_1Pid.html
a94168b013a704882750076ad0755210c
(double &p, double &i, double &d, double &i_max, double &i_min)
void
getGains
classcontrol__toolbox_1_1Pid.html
a986000725d1405f02f8abd2093f34aaf
(double &p, double &i, double &d, double &i_max, double &i_min, bool &antiwindup)
bool
init
classcontrol__toolbox_1_1Pid.html
aa0ee79554008ea31e0c212187171fcbe
(const ros::NodeHandle &n, const bool quiet=false)
void
initDynamicReconfig
classcontrol__toolbox_1_1Pid.html
a12f3d41225314f05ca04ae7bfe7c095a
(ros::NodeHandle &node)
bool
initParam
classcontrol__toolbox_1_1Pid.html
ad73727eeb3a59e9ab7bb76aea45f35c3
(const std::string &prefix, const bool quiet=false)
void
initPid
classcontrol__toolbox_1_1Pid.html
a5c6bcbc6382c5e56d2e9c82d88fcbf22
(double p, double i, double d, double i_max, double i_min, bool antiwindup, const ros::NodeHandle &)
void
initPid
classcontrol__toolbox_1_1Pid.html
aabee7e5c2c779272da500b63e0b05735
(double p, double i, double d, double i_max, double i_min, bool antiwindup=false)
void
initPid
classcontrol__toolbox_1_1Pid.html
a9bdc5e0212b6e92cbfac77df7ce808e3
(double p, double i, double d, double i_max, double i_min, const ros::NodeHandle &)
bool
initXml
classcontrol__toolbox_1_1Pid.html
a96537c793c170bc8b835deee8848c749
(TiXmlElement *config)
Pid &
operator=
classcontrol__toolbox_1_1Pid.html
aceaf28e1f2566aa4fb3322bf36362431
(const Pid &source)
Pid
classcontrol__toolbox_1_1Pid.html
aea22d87b039c2afd52c682ec60192605
(const Pid &source)
Pid
classcontrol__toolbox_1_1Pid.html
ab081bfb241e6bb3da4911587cf789c7f
(double p=0.0, double i=0.0, double d=0.0, double i_max=0.0, double i_min=-0.0, bool antiwindup=false)
void
printValues
classcontrol__toolbox_1_1Pid.html
a047a511eaa865c62e3e5dbfd8f3faa2b
()
void
reset
classcontrol__toolbox_1_1Pid.html
a7205355ee01f4a66bc4237103d65674b
()
void
reset
classcontrol__toolbox_1_1Pid.html
ab6c6c81bd95e40028e8666f31a4d3ada
(double d_error, double i_error)
void
setCurrentCmd
classcontrol__toolbox_1_1Pid.html
a8e4d27c0616075f108fa6d71866f4337
(double cmd)
void
setGains
classcontrol__toolbox_1_1Pid.html
abbe48927de0c406ec75cf8a22495e99e
(const Gains &gains)
void
setGains
classcontrol__toolbox_1_1Pid.html
af8888d16e7669186ed4c43f2a6281b57
(double p, double i, double d, double i_max, double i_min, bool antiwindup=false)
void
updateDynamicReconfig
classcontrol__toolbox_1_1Pid.html
affaaebdb31d891e7c70f5a0d109a8b0d
()
void
updateDynamicReconfig
classcontrol__toolbox_1_1Pid.html
aea12dba6be906bcd04c70215ddb3cfe0
(control_toolbox::ParametersConfig config)
void
updateDynamicReconfig
classcontrol__toolbox_1_1Pid.html
ae04c43c33faad828b0c36a690ca05d92
(Gains gains_config)
ROS_DEPRECATED double
updatePid
classcontrol__toolbox_1_1Pid.html
a59a052f4d6bf02a742ed6046d24374cf
(double error, double error_dot, ros::Duration dt)
ROS_DEPRECATED double
updatePid
classcontrol__toolbox_1_1Pid.html
a3b67ef1db5948f1da331e54171c2667e
(double p_error, ros::Duration dt)
~Pid
classcontrol__toolbox_1_1Pid.html
a53f2167704f04158500919a72081c298
()
dynamic_reconfigure::Server< control_toolbox::ParametersConfig >
DynamicReconfigServer
classcontrol__toolbox_1_1Pid.html
ae31d47c0ec8dddecc6b2b5c5fa5b5a9b
double
cmd_
classcontrol__toolbox_1_1Pid.html
ae00329b76bf056d39e9a85d9c67df531
double
d_error_
classcontrol__toolbox_1_1Pid.html
a9837edc9d20a2ec00e501935866dfbbc
bool
dynamic_reconfig_initialized_
classcontrol__toolbox_1_1Pid.html
a1f70b37c93b79eeda2baf3905231689e
realtime_tools::RealtimeBuffer< Gains >
gains_buffer_
classcontrol__toolbox_1_1Pid.html
aba493ba9b9cdb3bd947bfffb3f37d54f
double
i_error_
classcontrol__toolbox_1_1Pid.html
afe24a1015f7d3f07a12ff3238f376985
double
p_error_
classcontrol__toolbox_1_1Pid.html
a6f0503cbf257d7d5ed77a212f2e52f70
double
p_error_last_
classcontrol__toolbox_1_1Pid.html
a8c6519a93f8ed034b9167e502e5f8a4d
DynamicReconfigServer::CallbackType
param_reconfig_callback_
classcontrol__toolbox_1_1Pid.html
a3b74750aa291cad3b8146140e6b76f70
boost::recursive_mutex
param_reconfig_mutex_
classcontrol__toolbox_1_1Pid.html
ae90daceb90c66d78a125bc2ff33bda3f
boost::shared_ptr< DynamicReconfigServer >
param_reconfig_server_
classcontrol__toolbox_1_1Pid.html
a08a8d743e09e22f5e64caabffe0ba4d3
bool
publish_state_
classcontrol__toolbox_1_1Pid.html
a76a7ff8c0d5134a8d121ba976d762fce
boost::shared_ptr< realtime_tools::RealtimePublisher< control_msgs::PidState > >
state_publisher_
classcontrol__toolbox_1_1Pid.html
ab9a98e02fba823b793224e5513e2f91c
bool
valid_p_error_last_
classcontrol__toolbox_1_1Pid.html
a8c0a3385daf14b86a72ffd1081e77b6f
ROS
Usage
control_toolbox::PidGainsSetter
classcontrol__toolbox_1_1PidGainsSetter.html
PidGainsSetter &
add
classcontrol__toolbox_1_1PidGainsSetter.html
ae523af2fe173cd93abfca63cfb5c6ba8
(Pid *pid)
void
advertise
classcontrol__toolbox_1_1PidGainsSetter.html
abf3f47ec6d3afca0ff691a7ba0066e7d
(const ros::NodeHandle &n)
void
advertise
classcontrol__toolbox_1_1PidGainsSetter.html
a277880813ec52932a3e7b1da63296809
(const std::string &ns)
PidGainsSetter
classcontrol__toolbox_1_1PidGainsSetter.html
a68bcafe5059d389d64b510199659cb8d
()
bool
setGains
classcontrol__toolbox_1_1PidGainsSetter.html
a990c6bad14285caa82b8d6683c2cd2d3
(control_toolbox::SetPidGains::Request &req, control_toolbox::SetPidGains::Response &resp)
~PidGainsSetter
classcontrol__toolbox_1_1PidGainsSetter.html
ab55dba3ac6ef74fcd7a6d58b1bb27fab
()
ros::NodeHandle
node_
classcontrol__toolbox_1_1PidGainsSetter.html
af97f35ea0a07286032e35b2db70248e5
std::vector< Pid * >
pids_
classcontrol__toolbox_1_1PidGainsSetter.html
a7ae74a62a2c35b69320e7db0afc1527c
ros::ServiceServer
serve_set_gains_
classcontrol__toolbox_1_1PidGainsSetter.html
a36f574be1d9109e3a63d9ecc5a0a26d4
control_toolbox::SineSweep
classcontrol__toolbox_1_1SineSweep.html
bool
init
classcontrol__toolbox_1_1SineSweep.html
a6c5e5561f9d12ddba66de436ddb0aa51
(double start_freq, double end_freq, double duration, double amplitude)
SineSweep
classcontrol__toolbox_1_1SineSweep.html
a3bdcfd4423242318206bd29a312111f2
()
double
update
classcontrol__toolbox_1_1SineSweep.html
a2624773e71072a3c1e11c2fd7d67dd84
(ros::Duration dt)
~SineSweep
classcontrol__toolbox_1_1SineSweep.html
a79e8b2ea3a13c24c1855305f0eb6e301
()
double
amplitude_
classcontrol__toolbox_1_1SineSweep.html
a496a183da48d7864d11b8da1cf16a852
double
cmd_
classcontrol__toolbox_1_1SineSweep.html
af893092f128adf807f8462acd0fe5f7f
ros::Duration
duration_
classcontrol__toolbox_1_1SineSweep.html
aa229557e815a302ce450ccf1ebbf9a76
double
end_angular_freq_
classcontrol__toolbox_1_1SineSweep.html
aba1e4b38e0d06a62e921796be710eb36
double
K_
classcontrol__toolbox_1_1SineSweep.html
a128e37cfb0065933b5226fa836e89633
double
L_
classcontrol__toolbox_1_1SineSweep.html
a02e8aeb15926167e7643cf5d6221b08c
double
start_angular_freq_
classcontrol__toolbox_1_1SineSweep.html
aac8f60f855cce72784199b97aad146b4
control_toolbox::Sinusoid
classcontrol__toolbox_1_1Sinusoid.html
void
debug
classcontrol__toolbox_1_1Sinusoid.html
a42affe7c4e8314d287a229a94e4c7a29
()
bool
initXml
classcontrol__toolbox_1_1Sinusoid.html
aa56daa540087852b82dae54e2a42b32a
(TiXmlElement *ti_xml_element)
Sinusoid
classcontrol__toolbox_1_1Sinusoid.html
acd8dd3d61d8e15b724322543d21efb9d
()
Sinusoid
classcontrol__toolbox_1_1Sinusoid.html
a43d81899ef9bd6299e5b13ba8fc87665
(double offset, double amplitude, double frequency, double phase)
double
update
classcontrol__toolbox_1_1Sinusoid.html
a909f031955b95c78329f8587c359ff98
(double time, double &qd, double &qdd)
virtual
~Sinusoid
classcontrol__toolbox_1_1Sinusoid.html
af1413fd7744d419519bf8290e19e02c8
()
double
amplitude_
classcontrol__toolbox_1_1Sinusoid.html
ab6e3cb9937039f1aa6d2398aaff26fa8
double
frequency_
classcontrol__toolbox_1_1Sinusoid.html
aa0827d0f5f96784079476989ce51882c
double
offset_
classcontrol__toolbox_1_1Sinusoid.html
a328d0ffb59a6754c23c07f65c6de7c0b
double
phase_
classcontrol__toolbox_1_1Sinusoid.html
a96223662b81c22fe707e571e0c9fd94b
control_toolbox
namespacecontrol__toolbox.html
control_toolbox::Dither
control_toolbox::LimitedProxy
control_toolbox::Pid
control_toolbox::PidGainsSetter
control_toolbox::SineSweep
control_toolbox::Sinusoid
static void
calcDynamics1storder
namespacecontrol__toolbox.html
a6636163a803b4c8edec492c53bb1df4d
(double &a, double &dadv, double v, double lam, double)
static void
calcDynamics2ndorder
namespacecontrol__toolbox.html
a747f96feedd6efed7a4e4de54516b620
(double &a, double &dadp, double &dadv, double p, double v, double lam, double acon)
static const std::string
DEFAULT_NAMESPACE
namespacecontrol__toolbox.html
a62497285352e7f148ec335683b361b95
filters
namespacefilters.html
static const T &
clamp
namespacefilters.html
ac558228b7f0e0dfa0f64dea5a9ad5fd5
(const T &a, const T &b, const T &c)
static double
exponentialSmoothing
namespacefilters.html
a40b9d9eea47f418d18914b8517a78c0d
(double current_raw_value, double last_smoothed_value, double alpha)
tune_pid
namespacetune__pid.html
def
main
namespacetune__pid.html
a9d89e9ad89cb0af6396ee2a762b9c484
()
def
print_usage
namespacetune__pid.html
a837728d87bac992883f5449aa75b1c6f
(exit_code=0)