VirtualPID.h

 
 
#ifndef VirtualPID_H
#define VirtualPID_H
 
#include "SimObject.h"
#include <Eigen/Eigen>
 
class VirtualPID : public SimObject
{
public:
    VirtualPID(std::string sSimObjectName, ISimObjectCreator* pCreator);
    ~VirtualPID();
 
    void OdeFcn(const double T, const double* const X, double* const XDot, const bool bIsMajorTimeStep);
 
    void InitialConditionSetup(const double T, const double* const X, double* const XDot, ISimObjectCreator* pCreator);
 
    const double* OutFunction(const double T, const double * const X);
 
#ifdef FH_VISUALIZATION
    virtual void RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator){} 
 
    virtual void RenderUpdate(const double T, const double* const X){} 
#endif
protected:
    typedef Eigen::Matrix<double, 3, 1> vec3;   
 
    ISignalPort* m_InErr;
    int m_adOut, m_adIntegral, m_adDerivate;
    double m_Pp, m_Pd, m_Pi, m_IntegralSaturation, m_DerivativeTInv;
 
    double m_OutRatio;  
    double m_OutMax;
    double m_Out;
    double m_InitialT;
 
    double m_OutPre;
    double m_OutMaxDelta;
};
 
 
#endif