Pid.hpp

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// This file is part of GranOO, a workbench for DEM simulation.
//
// Author(s)    : - Damien Andre       IRCER/UNILIM, Limoges France
//                  <damien.andre@unilim.fr>
//                - Jean-luc Charles   Arts et Metiers ParisTech, CNRS, I2M, Bordeaux France
//                  <jean-luc.charles@ensam.eu>
//                - Jeremie Girardot   Arts et Metiers ParisTech, CNRS, I2M, Bordeaux France
//                  <jeremie.girardot@ensam.eu>
//                - Cedric Hubert      LAMIH/UPHF, Valenciennes France
//                  <cedric.hubert@uphf.fr>
//                - Ivan Iordanoff     Arts et Metiers ParisTech, CNRS, I2M, Bordeaux France
//                  <ivan.iordanoff@ensam.eu>
//
// Copyright (C) 2008-2019 D. Andre, JL. Charles, J. Girardot, C. Hubert, I. Iordanoff
//
// This program is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
//
 
 
#ifndef _GranOO_Math_Function_Pid_hpp_
#define _GranOO_Math_Function_Pid_hpp_
 
#include "GranOO3/Math/FunctionT.hpp"
#include "GranOO3/Core/XmlParser.hpp"
 
namespace GranOO3
{
  namespace Math
  {
    //---------------------------------------------------//
    // Pid: A proportional-integral-derivative controller
    // directly inspired from the sources of Bradley J. Snyder <snyder.bradleyj@gmail.com>
    // Kp -  proportional gain
    // Ki -  Integral gain
    // Kd -  derivative gain
    // dt -  loop interval time
    // max - maximum value of manipulated variable
    // min - minimum value of manipulated variablef(x) = [Ax] & [Cste] //
    //---------------------------------------------------//
 
 
    class Pid : public FunctionT<Pid>
    {
    public:
      static std::string class_ID() {return "Pid";}
 
      Pid();
      Pid(const std::string& symbol, const std::string desc = "");
      Pid(const double& x, double target, double dt, double max, double min, double Kp, double Kd, double Ki);
      ~Pid();
 
      GRANOO_ACCESS(target, double, _target);
      GRANOO_ACCESS(dt    , double, _dt    );
      GRANOO_ACCESS(max   , double, _max   );
      GRANOO_ACCESS(min   , double, _min   );
      GRANOO_ACCESS(Kp    , double, _Kp    );
      GRANOO_ACCESS(Kd    , double, _Kd    );
      GRANOO_ACCESS(Ki    , double, _Ki    );
 
      void parse_xml(const TiXmlElement* el, const std::string& AttributeName);
      
      double operator()();
      double operator()(const double& x, const double& target);
      double operator()(const double& x, const double& target, const double& dt, const double& max, const double& min, const double& Kp, const double& Kd, const double& Ki);
      
      
      
    private:
      Pid(const Pid&)            = delete;
      Pid& operator=(const Pid&) = delete;
 
    private:
      const double* _x;
      double        _target;
      double        _dt;
      double        _max;
      double        _min;
      double        _Kp;
      double        _Kd;
      double        _Ki;
      double        _pre_error;
      double        _integral;
      
    };
  }
}
#endif