Built motion from commit 6a09e18b.|2.6.11

[motion2.git] / legacy-libs / grpc-cloned / deps / grpc / src / core / lib / transport / pid_controller.h

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+/*
+ *
+ * Copyright 2016 gRPC authors.
+ *
+ * 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.
+ *
+ */
+
+#ifndef GRPC_CORE_LIB_TRANSPORT_PID_CONTROLLER_H
+#define GRPC_CORE_LIB_TRANSPORT_PID_CONTROLLER_H
+
+#include <grpc/support/port_platform.h>
+
+#include <limits>
+
+/* \file Simple PID controller.
+   Implements a proportional-integral-derivative controller.
+   Used when we want to iteratively control a variable to converge some other
+   observed value to a 'set-point'.
+   Gains can be set to adjust sensitivity to current error (p), the integral
+   of error (i), and the derivative of error (d). */
+
+namespace grpc_core {
+
+class PidController {
+ public:
+  class Args {
+   public:
+    double gain_p() const { return gain_p_; }
+    double gain_i() const { return gain_i_; }
+    double gain_d() const { return gain_d_; }
+    double initial_control_value() const { return initial_control_value_; }
+    double min_control_value() const { return min_control_value_; }
+    double max_control_value() const { return max_control_value_; }
+    double integral_range() const { return integral_range_; }
+
+    Args& set_gain_p(double gain_p) {
+      gain_p_ = gain_p;
+      return *this;
+    }
+    Args& set_gain_i(double gain_i) {
+      gain_i_ = gain_i;
+      return *this;
+    }
+    Args& set_gain_d(double gain_d) {
+      gain_d_ = gain_d;
+      return *this;
+    }
+    Args& set_initial_control_value(double initial_control_value) {
+      initial_control_value_ = initial_control_value;
+      return *this;
+    }
+    Args& set_min_control_value(double min_control_value) {
+      min_control_value_ = min_control_value;
+      return *this;
+    }
+    Args& set_max_control_value(double max_control_value) {
+      max_control_value_ = max_control_value;
+      return *this;
+    }
+    Args& set_integral_range(double integral_range) {
+      integral_range_ = integral_range;
+      return *this;
+    }
+
+   private:
+    double gain_p_ = 0.0;
+    double gain_i_ = 0.0;
+    double gain_d_ = 0.0;
+    double initial_control_value_ = 0.0;
+    double min_control_value_ = std::numeric_limits<double>::min();
+    double max_control_value_ = std::numeric_limits<double>::max();
+    double integral_range_ = std::numeric_limits<double>::max();
+  };
+
+  explicit PidController(const Args& args);
+
+  /// Reset the controller internal state: useful when the environment has
+  /// changed significantly
+  void Reset() {
+    last_error_ = 0.0;
+    last_dc_dt_ = 0.0;
+    error_integral_ = 0.0;
+  }
+
+  /// Update the controller: given a current error estimate, and the time since
+  /// the last update, returns a new control value
+  double Update(double error, double dt);
+
+  /// Returns the last control value calculated
+  double last_control_value() const { return last_control_value_; }
+
+  /// Returns the current error integral (mostly for testing)
+  double error_integral() const { return error_integral_; }
+
+ private:
+  double last_error_ = 0.0;
+  double error_integral_ = 0.0;
+  double last_control_value_;
+  double last_dc_dt_ = 0.0;
+  const Args args_;
+};
+
+}  // namespace grpc_core
+
+#endif /* GRPC_CORE_LIB_TRANSPORT_PID_CONTROLLER_H */