PIDController.hpp

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#ifndef PID_CONTROLLER_HPP
#define PID_CONTROLLER_HPP
 
#include <base/Eigen.hpp>
#include "PIDCtrlParams.hpp"
 
namespace wbc{
 
class PIDController{
protected:
    PIDCtrlParams pid_params;
    uint dimension;
    base::VectorXd control_error;
    base::VectorXd prev_control_error;
    base::VectorXd dead_zone;
    base::VectorXd max_ctrl_output;
    base::VectorXd integral;
    base::VectorXd derivative;
    base::VectorXd control_output;
    base::VectorXd setpoint;
    base::VectorXd feedback;
 
public:
    PIDController(uint dimension);
    virtual ~PIDController(){}
 
    void update(const double delta_t);
 
    void setPID(const PIDCtrlParams &params);
    const PIDCtrlParams &getPID(){return pid_params;}
    void setMaxCtrlOutput(const base::VectorXd &max);
    const base::VectorXd &maxCtrlOutput(){return max_ctrl_output;}
    void setDeadZone(const base::VectorXd &dz);
    const base::VectorXd &deadZone(){return dead_zone;}
    void applySaturation(const base::VectorXd& in, const base::VectorXd& max, base::VectorXd &out);
    void applyDeadZone(const base::VectorXd& in, const base::VectorXd& min, base::VectorXd& out);
    uint getDimension(){return dimension;}
    base::VectorXd getControlError(){return control_error;}
 
    virtual const base::VectorXd& computeDerivative(const double delta_t);
};
 
}
 
#endif