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Signed-off-by: ahcorde <[email protected]> Signed-off-by: Louise Poubel <[email protected]> Co-authored-by: Louise Poubel <[email protected]>
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| Original file line number | Diff line number | Diff line change |
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| /* | ||
| * Copyright (C) 2021 Open Source Robotics Foundation | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| * | ||
| */ | ||
|
|
||
| #include <pybind11/chrono.h> | ||
| #include <string> | ||
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| #include <ignition/math/PID.hh> | ||
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| #include "PID.hh" | ||
|
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| namespace ignition | ||
| { | ||
| namespace math | ||
| { | ||
| namespace python | ||
| { | ||
| void defineMathPID(py::module &m, const std::string &typestr) | ||
| { | ||
| using Class = ignition::math::PID; | ||
| std::string pyclass_name = typestr; | ||
| py::class_<Class>(m, | ||
| pyclass_name.c_str(), | ||
| py::buffer_protocol(), | ||
| py::dynamic_attr()) | ||
| .def(py::init<>()) | ||
| .def(py::init<Class&>()) | ||
| .def(py::init<const double, const double, const double, const double, | ||
| const double, const double, const double, const double>(), | ||
| py::arg("_p") = 0.0, py::arg("_i") = 0.0, py::arg("_d") = 0.0, | ||
| py::arg("_imax") = -1.0, py::arg("_imin") = 0.0, | ||
| py::arg("_cmdMax") = -1.0, py::arg("_cmdMin") = 0.0, | ||
| py::arg("_cmdOffset") = 0.0) | ||
| .def("init", | ||
| &Class::Init, | ||
| py::arg("_p") = 0.0, py::arg("_i") = 0.0, py::arg("_d") = 0.0, | ||
| py::arg("_imax") = -1.0, py::arg("_imin") = 0.0, | ||
| py::arg("_cmdMax") = -1.0, py::arg("_cmdMin") = 0.0, | ||
| py::arg("_cmdOffset") = 0.0, | ||
| "Initialize PID-gains and integral term " | ||
| "limits:[iMax:iMin]-[I1:I2].") | ||
| .def("set_p_gain", | ||
| &Class::SetPGain, | ||
| "Set the proportional Gain.") | ||
| .def("set_i_gain", | ||
| &Class::SetIGain, | ||
| "Set the integral Gain.") | ||
| .def("set_d_gain", | ||
| &Class::SetDGain, | ||
| "Set the derivative Gain.") | ||
| .def("set_i_max", | ||
| &Class::SetIMax, | ||
| "Set the integral upper limit.") | ||
| .def("set_i_min", | ||
| &Class::SetIMin, | ||
| "Set the integral lower limit.") | ||
| .def("set_cmd_max", | ||
| &Class::SetCmdMax, | ||
| "Set the maximum value for the command.") | ||
| .def("set_cmd_min", | ||
| &Class::SetCmdMin, | ||
| "Set the minimum value for the command.") | ||
| .def("set_cmd_offset", | ||
| &Class::SetCmdOffset, | ||
| "Set the offset value for the command, which is added to the result of " | ||
| "the PID controller.") | ||
| .def("p_gain", | ||
| &Class::PGain, | ||
| "Get the proportional Gain.") | ||
| .def("i_gain", | ||
| &Class::IGain, | ||
| "Get the integral Gain.") | ||
| .def("d_gain", | ||
| &Class::DGain, | ||
| "Get the derivative Gain.") | ||
| .def("i_max", | ||
| &Class::IMax, | ||
| "Get the integral upper limit.") | ||
| .def("i_min", | ||
| &Class::IMin, | ||
| "Get the integral lower limit.") | ||
| .def("cmd_max", | ||
| &Class::CmdMax, | ||
| "Get the maximum value for the command.") | ||
| .def("cmd_min", | ||
| &Class::CmdMin, | ||
| "Get the minimun value for the command.") | ||
| .def("cmd_offset", | ||
| &Class::CmdOffset, | ||
| "Get the offset value for the command.") | ||
| .def("update", | ||
| &Class::Update, | ||
| "Update the Pid loop with nonuniform time step size.") | ||
| .def("set_cmd", | ||
| &Class::SetCmd, | ||
| "Set current target command for this PID controller.") | ||
| .def("cmd", | ||
| &Class::Cmd, | ||
| "Return current command for this PID controller.") | ||
| .def("errors", | ||
| [](const Class &self) { | ||
| double pe, ie, de; | ||
| self.Errors(pe, ie, de); | ||
| return std::make_tuple(pe, ie, de); | ||
| }, | ||
| "Return PID error terms for the controller.") | ||
| .def("reset", | ||
| &Class::Reset, | ||
| "Reset the errors and command."); | ||
| } | ||
| } // namespace python | ||
| } // namespace math | ||
| } // namespace ignition |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,41 @@ | ||
| /* | ||
| * Copyright (C) 2021 Open Source Robotics Foundation | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| * | ||
| */ | ||
|
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| #ifndef IGNITION_MATH_PYTHON__PID_HH_ | ||
| #define IGNITION_MATH_PYTHON__PID_HH_ | ||
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| #include <pybind11/pybind11.h> | ||
| #include <string> | ||
| namespace py = pybind11; | ||
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| namespace ignition | ||
| { | ||
| namespace math | ||
| { | ||
| namespace python | ||
| { | ||
| /// Define a pybind11 wrapper for an ignition::math::PID | ||
| /** | ||
| * \param[in] module a pybind11 module to add the definition to | ||
| * \param[in] typestr name of the type used by Python | ||
| */ | ||
| void defineMathPID(py::module &m, const std::string &typestr); | ||
| } // namespace python | ||
| } // namespace math | ||
| } // namespace ignition | ||
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| #endif // IGNITION_MATH_PYTHON__PID_HH_ |
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