24#include "modules/control/control_component/proto/pid_conf.pb.h"
70 virtual double Control(
const double error,
const double dt);
control module main class, it processes localization, chassis, and pad data to compute throttle,...
A proportional-integral-derivative controller for speed and steering using defualt integral hold
double output_saturation_low_
void Init(const PidConf &pid_conf)
initialize pid controller
bool IntegratorHold() const
get status that if integrator is hold
void Reset_integral()
reset integral for pid controller
void Reset()
reset variables for pid controller
void SetPID(const PidConf &pid_conf)
set pid controller coefficients for the proportional, integral, and derivative
int output_saturation_status_
double output_saturation_high_
int IntegratorSaturationStatus() const
get saturation status
double integrator_saturation_high_
double integrator_saturation_low_
int integrator_saturation_status_
void SetIntegratorHold(bool hold)
set whether to hold integrator component at its current value.
virtual ~PIDController()=default