Module: JointPIDController

class JointPIDController : public PIDController<ScalarJointStateMsgPayload, ScalarJointStateMsgPayload, SingleActuatorMsgPayload>

#include <JointPIDController.h>

PID controller for scalar joints (rotational or translational).

Implements the required virtual methods for reading joint state and writing actuator input.

Protected Functions

inline double readMeasuredPosition(const ScalarJointStateMsgPayload &i) const override

Read the measured position from the joint state payload.

Parameters:

i – Joint state message payload.

Returns:

The joint position (radians or meters).

inline double readMeasuredVelocity(const ScalarJointStateMsgPayload &i) const override

Read the measured velocity from the joint state payload.

Parameters:

i – Joint state message payload.

Returns:

The joint velocity (radians/sec or meters/sec).

inline void writeOutput(SingleActuatorMsgPayload &o, double val) override

Write the computed actuator input to the output payload.

Parameters:

• o – Actuator message payload.

• val – Value to write.