cpp_robotics::NctfController

NCTF制御器

#include <nctf.hpp>

Public Functions

	Name
std::function< double(double)>	make_simple_nct(double max_velocity, double slope)
	NctfController(double max_velocity, double nct_slope, PID::pid_param_t pid_param, double dt)
	NctfController(std::function< double(double)> nct, PID::pid_param_t pid_param, double dt)
void	reset()
double	control(double target, double state)
double	control(double e)
std::function< double(double)>	nct() const

Public Attributes

	Name
double	nct_error

Public Functions Documentation

function make_simple_nct

static inline std::function< double(double)> make_simple_nct(
    double max_velocity,
    double slope
)

function NctfController

inline NctfController(
    double max_velocity,
    double nct_slope,
    PID::pid_param_t pid_param,
    double dt
)

function NctfController

inline NctfController(
    std::function< double(double)> nct,
    PID::pid_param_t pid_param,
    double dt
)

function reset

inline void reset()

function control

inline double control(
    double target,
    double state
)

function control

inline double control(
    double e
)

function nct

inline std::function< double(double)> nct() const

Public Attributes Documentation

variable nct_error

double nct_error = 0;

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Updated on 2024-05-28 at 06:55:39 +0000