ROS2::Controllers::PidConfiguration Class Reference

#include <PidConfiguration.h>

Public Member Functions
	AZ_TYPE_INFO (PidConfiguration, "{814E0D1E-2C33-44A5-868E-C914640E2F7E}")
void	InitializePid ()
	Initialize PID using member fields as set by the user.
double	ComputeCommand (double error, uint64_t deltaTimeNanoseconds)

Static Public Member Functions
static void	Reflect (AZ::ReflectContext *context)

Detailed Description

A wrapper for ROS 2 control_toolbox pid controller.

See also

control_toolbox.

Member Function Documentation

ComputeCommand()

double ROS2::Controllers::PidConfiguration::ComputeCommand	(	double	error,
		uint64_t	deltaTimeNanoseconds
	)

Compute the value of PID command.

Parameters

error	Value of difference between target and state since last call.
deltaTimeNanoseconds	change in time since last call (nanoseconds).

Returns

Value of computed command.

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

• Gems/ROS2/Code/Include/ROS2/Utilities/Controllers/PidConfiguration.h