Inheritance diagram for Ship::PIDController:

Collaboration diagram for Ship::PIDController:

Public Member Functions
	PIDController (const std::string &simObjectName, ISimObjectCreator *const creator)

virtual void	OdeFcn (const double T, const double const X, double const XDot, const bool bIsMajorTimeStep)
	reads parameters, registers states, input/output ports and shared resources

Protected Member Functions
const double *	Out (const double T, const double *const X)
	returns object derivatives as a function of time, states and input ports

Protected Attributes
double	Kp

double	Kd

double	Ki

double	m_ControlValue

ISignalPort *	m_InCurrent

ISignalPort *	m_InCurrentRate
	Current position.

ISignalPort *	m_InDesired
	Current position.

ISignalPort *	m_InDesiredRate
	Desired position.

int	m_IErrorIntegral
	Desired position.

double	m_CurrentNumericalDerivative
	The relative index of the StatePositionErrorSum state in the state array.

double	m_LastValue

double	m_LastTime
	used in numerical differentiation

The documentation for this class was generated from the following file:

Public Member Functions

Protected Member Functions