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Update parameter description
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@christophfroehlich
christophfroehlich committed Jan 22, 2025
1 parent 027afb7 commit 27678d8
Showing 1 changed file with 54 additions and 30 deletions.
84 changes: 54 additions & 30 deletions include/control_toolbox/pid.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -112,8 +112,8 @@ class Pid
* \param p The proportional gain.
* \param i The integral gain.
* \param d The derivative gain.
* \param i_max The max integral windup.
* \param i_min The min integral windup.
* \param i_max Upper integral clamp.
* \param i_min Lower integral clamp.
*
*/
Gains(double p, double i, double d, double i_max, double i_min)
Expand All @@ -127,9 +127,12 @@ class Pid
* \param p The proportional gain.
* \param i The integral gain.
* \param d The derivative gain.
* \param i_max The max integral windup.
* \param i_min The min integral windup.
* \param antiwindup If true, antiwindup is enabled and i_max/i_min are enforced
* \param i_max Upper integral clamp.
* \param i_min Lower integral clamp.
* \param antiwindup Antiwindup functionality. When set to true, limits
the integral error to prevent windup; otherwise, constrains the
integral contribution to the control output. i_clamp_max and
i_clamp_min are applied in both scenarios.
*
*/
Gains(
Expand All @@ -155,9 +158,12 @@ class Pid
* \param p The proportional gain.
* \param i The integral gain.
* \param d The derivative gain.
* \param i_max The max integral windup.
* \param i_min The min integral windup.
* \param antiwindup If true, antiwindup is enabled and i_max/i_min are enforced
* \param i_max Upper integral clamp.
* \param i_min Lower integral clamp.
* \param antiwindup Antiwindup functionality. When set to true, limits
the integral error to prevent windup; otherwise, constrains the
integral contribution to the control output. i_clamp_max and
i_clamp_min are applied in both scenarios.
*
* \throws An std::invalid_argument exception is thrown if i_min > i_max
*/
Expand All @@ -183,9 +189,12 @@ class Pid
* \param p The proportional gain.
* \param i The integral gain.
* \param d The derivative gain.
* \param i_max The max integral windup.
* \param i_min The min integral windup.
* \param antiwindup If true, antiwindup is enabled and i_max/i_min are enforced
* \param i_max Upper integral clamp.
* \param i_min Lower integral clamp.
* \param antiwindup Antiwindup functionality. When set to true, limits
the integral error to prevent windup; otherwise, constrains the
integral contribution to the control output. i_clamp_max and
i_clamp_min are applied in both scenarios.
*
* \note New gains are not applied if i_min_ > i_max_
*/
Expand All @@ -199,9 +208,12 @@ class Pid
* \param p The proportional gain.
* \param i The integral gain.
* \param d The derivative gain.
* \param i_max The max integral windup.
* \param i_min The min integral windup.
* \param antiwindup If true, antiwindup is enabled and i_max/i_min are enforced
* \param i_max Upper integral clamp.
* \param i_min Lower integral clamp.
* \param antiwindup Antiwindup functionality. When set to true, limits
the integral error to prevent windup; otherwise, constrains the
integral contribution to the control output. i_clamp_max and
i_clamp_min are applied in both scenarios.
*
* \note New gains are not applied if i_min_ > i_max_
*/
Expand All @@ -220,8 +232,8 @@ class Pid
* \param p The proportional gain.
* \param i The integral gain.
* \param d The derivative gain.
* \param i_max The max integral windup.
* \param i_min The min integral windup.
* \param i_max Upper integral clamp.
* \param i_min Lower integral clamp.
*/
void get_gains(double & p, double & i, double & d, double & i_max, double & i_min);

Expand All @@ -230,8 +242,8 @@ class Pid
* \param p The proportional gain.
* \param i The integral gain.
* \param d The derivative gain.
* \param i_max The max integral windup.
* \param i_min The min integral windup.
* \param i_max Upper integral clamp.
* \param i_min Lower integral clamp.
*/
[[deprecated("Use get_gains() instead")]] void getGains(
double & p, double & i, double & d, double & i_max, double & i_min) {
Expand All @@ -243,9 +255,12 @@ class Pid
* \param p The proportional gain.
* \param i The integral gain.
* \param d The derivative gain.
* \param i_max The max integral windup.
* \param i_min The min integral windup.
* \param antiwindup If true, antiwindup is enabled and i_max/i_min are enforced
* \param i_max Upper integral clamp.
* \param i_min Lower integral clamp.
* \param antiwindup Antiwindup functionality. When set to true, limits
the integral error to prevent windup; otherwise, constrains the
integral contribution to the control output. i_clamp_max and
i_clamp_min are applied in both scenarios.
*/
void get_gains(
double & p, double & i, double & d, double & i_max, double & i_min, bool & antiwindup);
Expand All @@ -255,9 +270,12 @@ class Pid
* \param p The proportional gain.
* \param i The integral gain.
* \param d The derivative gain.
* \param i_max The max integral windup.
* \param i_min The min integral windup.
* \param antiwindup If true, antiwindup is enabled and i_max/i_min are enforced
* \param i_max Upper integral clamp.
* \param i_min Lower integral clamp.
* \param antiwindup Antiwindup functionality. When set to true, limits
the integral error to prevent windup; otherwise, constrains the
integral contribution to the control output. i_clamp_max and
i_clamp_min are applied in both scenarios.
*/
[[deprecated("Use get_gains() instead")]] void getGains(
double & p, double & i, double & d, double & i_max, double & i_min, bool & antiwindup) {
Expand All @@ -283,9 +301,12 @@ class Pid
* \param p The proportional gain.
* \param i The integral gain.
* \param d The derivative gain.
* \param i_max The max integral windup.
* \param i_min The min integral windup.
* \param antiwindup If true, antiwindup is enabled and i_max/i_min are enforced
* \param i_max Upper integral clamp.
* \param i_min Lower integral clamp.
* \param antiwindup Antiwindup functionality. When set to true, limits
the integral error to prevent windup; otherwise, constrains the
integral contribution to the control output. i_clamp_max and
i_clamp_min are applied in both scenarios.
*
* \note New gains are not applied if i_min > i_max
*/
Expand All @@ -296,9 +317,12 @@ class Pid
* \param p The proportional gain.
* \param i The integral gain.
* \param d The derivative gain.
* \param i_max The max integral windup.
* \param i_min The min integral windup.
* \param antiwindup If true, antiwindup is enabled and i_max/i_min are enforced
* \param i_max Upper integral clamp.
* \param i_min Lower integral clamp.
* \param antiwindup Antiwindup functionality. When set to true, limits
the integral error to prevent windup; otherwise, constrains the
integral contribution to the control output. i_clamp_max and
i_clamp_min are applied in both scenarios.
*
* \note New gains are not applied if i_min > i_max
*/
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