updated variable names

uri-ocean-robotics · Oct 27, 2024 · 5e547ea · 5e547ea
1 parent 6786ce9
commit 5e547ea
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Showing 6 changed files with 136 additions and 168 deletions.
diff --git a/cfg/dynamic_reconfigure_pid.cfg b/cfg/dynamic_reconfigure_pid.cfg
@@ -25,7 +25,7 @@ for i in axis:
     gen.add(i + "_p", double_t, 0, "Controller " + i + " PID (P) Gain",    1, 0,   200)
     gen.add(i + "_i", double_t, 0, "Controller " + i + " PID (I) Gain",    0, 0,   200)
     gen.add(i + "_d", double_t, 0, "Controller " + i + " PID (D) Gain",    0, 0,   200)
-    gen.add(i + "_i_max", double_t, 0, "Controller " + i + " PID max (i) term",    0, -50,   50)
-    gen.add(i + "_i_min", double_t, 0, "Controller " + i + " PID min (i) term",    0, -50,   50)
+    gen.add(i + "_pid_max", double_t, 0, "Controller " + i + " PID max term",    0, -50,   50)
+    gen.add(i + "_pid_min", double_t, 0, "Controller " + i + " PID min term",    0, -50,   50)
 
 exit(gen.generate(PACKAGE, "mvp_control_dynamic_configure", "PID"))
diff --git a/include/mvp_control/dictionary.h b/include/mvp_control/dictionary.h
@@ -70,8 +70,12 @@ namespace ctrl {
     static constexpr const char * CONF_PID_P = "p";
     static constexpr const char * CONF_PID_I = "i";
     static constexpr const char * CONF_PID_D = "d";
-    static constexpr const char * CONF_PID_I_MAX = "i_max";
-    static constexpr const char * CONF_PID_I_MIN = "i_min";
+    // static constexpr const char * CONF_PID_I_MAX = "i_max";
+    // static constexpr const char * CONF_PID_I_MIN = "i_min";
+
+    static constexpr const char * CONF_PID_MAX = "pid_max";
+    static constexpr const char * CONF_PID_MIN = "pid_min";
+
     static constexpr const char * CONF_CONTROL_ALLOCATION_MATRIX = "control_allocation_matrix";
     static constexpr const char * CONF_CONTROL_TF = "control_tf";
     static constexpr const char * CONF_CONTROLLER_FREQUENCY = "controller_frequency";

diff --git a/src/mvp_control/mimo_pid.cpp b/src/mvp_control/mimo_pid.cpp
@@ -63,11 +63,11 @@ bool MimoPID::calculate(Eigen::VectorXd* u, const Eigen::ArrayXd& desired, const
     Eigen::ArrayXd pid_sum = p + m_i + d;
 
     //saturation
-    pid_sum = (pid_sum > m_i_max).select(m_i_max, pid_sum);
-    pid_sum = (pid_sum < m_i_min).select(m_i_min, pid_sum);
+    pid_sum = (pid_sum > m_pid_max).select(m_pid_max, pid_sum);
+    pid_sum = (pid_sum < m_pid_min).select(m_pid_min, pid_sum);
 
     //clamping only update the integral when not saturated
-    m_i = (pid_sum.array() > m_i_min.array() && pid_sum.array() < m_i_max.array())
+    m_i = (pid_sum.array() > m_pid_min.array() && pid_sum.array() < m_pid_max.array())
            .select(m_i + delta_i, m_i);
     // *u = p + m_i + d;
     *u = pid_sum;
@@ -121,22 +121,21 @@ void MimoPID::set_dt_i(const decltype(m_dt_i) &gain) {
     m_dt_i = gain;
 }
 
-auto MimoPID::get_i_max() -> decltype(m_i_max) {
-    return m_i_max;
+auto MimoPID::get_pid_max() -> decltype(m_pid_max) {
+    return m_pid_max;
 }
 
-void MimoPID::set_i_max(const decltype(m_i_max) &gain) {
-    m_i_max= gain;
+void MimoPID::set_pid_max(const decltype(m_pid_max) &gain) {
+    m_pid_max= gain;
 }
 
-auto MimoPID::get_i_min() -> decltype(m_i_max) {
-    return m_i_min;
+auto MimoPID::get_pid_min() -> decltype(m_pid_min) {
+    return m_pid_min;
 }
 
-// void MimoPID::reset_m_i(const decltype(m_i)) {
-//     m_i.setZero();
-// }
-
+void MimoPID::set_pid_min(const decltype(m_pid_min) &gain) {
+    m_pid_min= gain;
+}
 
 void MimoPID::set_m_i(const decltype(m_i) &new_m_i)
 {
@@ -147,10 +146,6 @@ auto MimoPID::get_m_i() -> decltype(m_i) {
     return m_i;
 }
 
-void MimoPID::set_i_min(const decltype(m_i_min) &gain) {
-    m_i_min= gain;
-}
-
 auto MimoPID::get_error_function() -> decltype(m_error_function) {
     return m_error_function;
 }

diff --git a/src/mvp_control/mimo_pid.h b/src/mvp_control/mimo_pid.h
@@ -50,14 +50,14 @@ namespace ctrl {
          *
          * This variable holds the maximum value of a gain
          */
-        Eigen::ArrayXd m_i_max;
+        Eigen::ArrayXd m_pid_max;
 
         /**
          * @brief Minimum value
          *
          * This variable holds the minimum value of a gain
          */
-        Eigen::ArrayXd m_i_min;
+        Eigen::ArrayXd m_pid_min;
 
         //! @brief Proportional gain
         Eigen::ArrayXd m_kp;
@@ -143,24 +143,22 @@ namespace ctrl {
         void set_dt_i(const decltype(m_dt_i) &gain);
 
         //! @brief Default getter for max
-        auto get_i_max() -> decltype(m_i_max);
+        auto get_pid_max() -> decltype(m_pid_max);
 
         /*! @brief Default setter for max
          *
          * @param gain
          */
-        void set_i_max(const decltype(m_i_max) &gain);
+        void set_pid_max(const decltype(m_pid_max) &gain);
 
         //! @brief Default getter for min
-        auto get_i_min() -> decltype(m_i_min);
+        auto get_pid_min() -> decltype(m_pid_min);
 
         /*! @brief Default setter for min
          *
          * @param gain
          */
-        void set_i_min(const decltype(m_i_min) &gain);
-
-        // void reset_m_i(const decltype(m_i));
+        void set_pid_min(const decltype(m_pid_min) &gain);
 
         void set_m_i(const decltype(m_i) &new_m_i);