#include <PidMotorControllerBus.h>
Inherits AZ::EBusTraits.
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using | BusIdType = AZ::EntityId |
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static constexpr AZ::EBusAddressPolicy | AddressPolicy = AZ::EBusAddressPolicy::ById |
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Interface to communicate with a PID motor controller. It allows to apply a setpoint and track performance of the controller.
◆ GetCurrentMeasurement()
virtual float ROS2::PidMotorControllerRequests::GetCurrentMeasurement |
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pure virtual |
Retrieve current measurement. Measurement is the value of the movement - eg protrusion of an actuator. For linear actuators, measurement is given in meters. For the rotational actuators, measurement is given in radians. When the setpoint is reached this should be close to setpoint.
- Returns
- measurement value in meters or radians.
◆ GetError()
virtual float ROS2::PidMotorControllerRequests::GetError |
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pure virtual |
Retrieve current control error (difference between setpoint and measurement) When the setpoint is reached this should be close to zero. For linear actuators, the error is given in meters. For the rotational actuators, the error is given in radians.
- Returns
- controller error's value in meters or radians
◆ GetSetpoint()
virtual float ROS2::PidMotorControllerRequests::GetSetpoint |
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pure virtual |
Get current setpoint value for position controller. If SetSetpoint
has not been called, it returns initial position of joint. For linear actuators, the setpoint is given in meters. For the rotational actuators, the setpoint is given in radians.
- Returns
- setpoint value in meters or radians
◆ SetSetpoint()
virtual void ROS2::PidMotorControllerRequests::SetSetpoint |
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float |
setpoint | ) |
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pure virtual |
Set current setpoint value for position controller. The setpoint is the desired position for a simulated actuator. For linear actuators, the setpoint is given in meters. For the rotational actuators, the setpoint is given in radians.
- Parameters
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setpoint | value in meters or radians |
The documentation for this class was generated from the following file:
- Gems/ROS2/Code/Include/ROS2/Manipulation/MotorizedJoints/PidMotorControllerBus.h