BotNavSim  v0.4.3
Mobile Robot Simulation
Public Member Functions | Public Attributes | Properties | Private Attributes | List of all members
PidVector3 Class Reference

PidVector3 encapsulates PID control for 3D vectors. More...

Public Member Functions

Vector3 output (Vector3 target, Vector3 actual)
 Pid control from actual to target. Call in Update (not FixedUpdate), uses Time.deltaTime More...
 
void CopySettings (Pid pid)
 Copies the settings from param to this instance More...
 

Public Attributes

float kp
 

Properties

Vector3 error [get, private set]
 
Vector3 previous_error [get, private set]
 
Vector3 integral [get, private set]
 
Vector3 derivative [get, private set]
 

Private Attributes

float ki
 
float kd
 

Detailed Description

PidVector3 encapsulates PID control for 3D vectors.

Definition at line 54 of file Pid.cs.

Member Function Documentation

void PidVector3.CopySettings ( Pid  pid)

Copies the settings from param to this instance

Parameters
pidPid.

Definition at line 79 of file Pid.cs.

79  {
80  kp = pid.kp;
81  ki = pid.ki;
82  kd = pid.kd;
83  }
Pid.kd
float kd
Definition: Pid.cs:10
PidVector3.ki
float ki
Definition: Pid.cs:56
PidVector3.kp
float kp
Definition: Pid.cs:56
Pid.ki
float ki
Definition: Pid.cs:10
PidVector3.kd
float kd
Definition: Pid.cs:56
Pid.kp
float kp
Definition: Pid.cs:10
Vector3 PidVector3.output ( Vector3  target,
Vector3  actual 
)

Pid control from actual to target. Call in Update (not FixedUpdate), uses Time.deltaTime

Parameters
targetTarget.
actualActual.

Definition at line 67 of file Pid.cs.

67  {
68  error = target - actual;
69  integral += error * Time.deltaTime;
70  derivative = (error - previous_error) / Time.deltaTime;
71  previous_error = error;
72  return (kp*error) + (ki*integral) + (kd*derivative);
73  }
PidVector3.derivative
Vector3 derivative
Definition: Pid.cs:60
PidVector3.integral
Vector3 integral
Definition: Pid.cs:59
PidVector3.error
Vector3 error
Definition: Pid.cs:57
PidVector3.previous_error
Vector3 previous_error
Definition: Pid.cs:58
PidVector3.ki
float ki
Definition: Pid.cs:56
PidVector3.kp
float kp
Definition: Pid.cs:56
PidVector3.kd
float kd
Definition: Pid.cs:56

Member Data Documentation

float PidVector3.kd
private

Definition at line 56 of file Pid.cs.

float PidVector3.ki
private

Definition at line 56 of file Pid.cs.

float PidVector3.kp

Definition at line 56 of file Pid.cs.

Property Documentation

Vector3 PidVector3.derivative
getprivate set

Definition at line 60 of file Pid.cs.

Vector3 PidVector3.error
getprivate set

Definition at line 57 of file Pid.cs.

Vector3 PidVector3.integral
getprivate set

Definition at line 59 of file Pid.cs.

Vector3 PidVector3.previous_error
getprivate set

Definition at line 58 of file Pid.cs.

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