Motor PID

#include "navground/core/behavior_modulations/motor_pid.h"

class MotorPIDModulation : public navground::core::BehaviorModulation

A modulation that control motor torques using a PID.

        Requires that the behavior has a
        \ref DynamicTwoWheelsDifferentialDriveKinematics kinematics.

Registered properties:

• k_p (see get_k_p, default 1)

• k_d (see get_k_d, default 0)

• k_i (see get_k_i, default 0)

Public Functions

inline explicit MotorPIDModulation(ng_float_t k_p = 1, ng_float_t k_i = 0, ng_float_t k_d = 0)

Construct a new instance.

Parameters:

• k_p – [in] The P factor

• k_i – [in] The I factor

• k_d – [in] The D factor

inline ng_float_t get_k_p() const

Gets the P factor.

Returns:

A number

inline void set_k_p(ng_float_t value)

Sets the P factor.

Parameters:

value – [in] A number.

inline ng_float_t get_k_i() const

Gets the P factor.

Returns:

A number

inline void set_k_i(ng_float_t value)

Sets the I factor.

Parameters:

value – [in] A number.

inline ng_float_t get_k_d() const

Gets the D factor.

Returns:

A number

inline void set_k_d(ng_float_t value)

Sets the D factor.

Parameters:

value – [in] A number.