Drake
PidControlledSystem< T > Class Template Reference

A system that encapsulates a PidController and a controlled System (a.k.a the "plant"). More...

#include <drake/systems/controllers/pid_controlled_system.h>

Inheritance diagram for PidControlledSystem< T >:
Collaboration diagram for PidControlledSystem< T >:

Classes

struct  ConnectResult
 The return type of ConnectController. More...
 

Public Member Functions

 PidControlledSystem (std::unique_ptr< System< T >> plant, double Kp, double Ki, double Kd)
 plant full state is used for feedback control, and all the dimensions have homogeneous gains specified by Kp, Kd and Ki. More...
 
 PidControlledSystem (std::unique_ptr< System< T >> plant, const Eigen::VectorXd &Kp, const Eigen::VectorXd &Ki, const Eigen::VectorXd &Kd)
 plant full state is used for feedback control, and the vectorized gains are specified by Kp, Kd and Ki. More...
 
 PidControlledSystem (std::unique_ptr< System< T >> plant, const MatrixX< double > &feedback_selector, double Kp, double Ki, double Kd)
 A constructor where the gains are scalar values and some of the plant's output is part of the feedback signal as specified by feedback_selector. More...
 
 PidControlledSystem (std::unique_ptr< System< T >> plant, const MatrixX< double > &feedback_selector, const Eigen::VectorXd &Kp, const Eigen::VectorXd &Ki, const Eigen::VectorXd &Kd)
 A constructor where the gains are vector values and some of the plant's output is part of the feedback signal as specified by feedback_selector. More...
 
 ~PidControlledSystem () override
 
System< T > * plant ()
 
const InputPortDescriptor< T > & get_control_input_port () const
 
const InputPortDescriptor< T > & get_state_input_port () const
 
Does not allow copy, move, or assignment
 PidControlledSystem (const PidControlledSystem &)=delete
 
PidControlledSystemoperator= (const PidControlledSystem &)=delete
 
 PidControlledSystem (PidControlledSystem &&)=delete
 
PidControlledSystemoperator= (PidControlledSystem &&)=delete
 
- Public Member Functions inherited from Diagram< T >
 ~Diagram () override
 
std::vector< const systems::System< T > * > GetSystems () const
 Returns the list of contained Systems. More...
 
std::multimap< int, intGetDirectFeedthroughs () const final
 Reports all direct feedthroughs from input ports to output ports. More...
 
std::unique_ptr< CompositeEventCollection< T > > AllocateCompositeEventCollection () const final
 Allocates a DiagramEventCollection for this Diagram. More...
 
std::unique_ptr< Context< T > > AllocateContext () const override
 Allocates a context, initialized with the correct numbers of concrete input ports and state variables for this System. More...
 
void SetDefaultState (const Context< T > &context, State< T > *state) const override
 Assigns default values to all elements of the state. More...
 
void SetDefaults (Context< T > *context) const final
 
std::unique_ptr< SystemOutput< T > > AllocateOutput (const Context< T > &context) const override
 Returns a container that can hold the values of all of this System's output ports. More...
 
std::unique_ptr< ContinuousState< T > > AllocateTimeDerivatives () const override
 Aggregates the time derivatives from each subsystem into a DiagramTimeDerivatives. More...
 
std::unique_ptr< DiscreteValues< T > > AllocateDiscreteVariables () const override
 Aggregates the discrete update variables from each subsystem into a DiagramDiscreteVariables. More...
 
void DoCalcTimeDerivatives (const Context< T > &context, ContinuousState< T > *derivatives) const override
 Override this if you have any continuous state variables xc in your concrete System to calculate their time derivatives. More...
 
const ContinuousState< T > * GetSubsystemDerivatives (const ContinuousState< T > &derivatives, const System< T > *subsystem) const
 Retrieves the state derivatives for a particular subsystem from the derivatives for the entire diagram. More...
 
const Context< T > & GetSubsystemContext (const System< T > &subsystem, const Context< T > &context) const
 Returns a constant reference to the subcontext that corresponds to the system subsystem. More...
 
Context< T > & GetMutableSubsystemContext (const System< T > &subsystem, Context< T > *context) const
 Returns the subcontext that corresponds to the system subsystem. More...
 
const CompositeEventCollection< T > & GetSubsystemCompositeEventCollection (const System< T > &subsystem, const CompositeEventCollection< T > &events) const
 Returns the const subsystem composite event collection from events that corresponds to subsystem. More...
 
CompositeEventCollection< T > & GetMutableSubsystemCompositeEventCollection (const System< T > &subsystem, CompositeEventCollection< T > *events) const
 Returns the mutable subsystem composite event collection that corresponds to subsystem. More...
 
State< T > & GetMutableSubsystemState (const System< T > &subsystem, Context< T > *context) const
 Retrieves the state for a particular subsystem from the context for the entire diagram. More...
 
State< T > & GetMutableSubsystemState (const System< T > &subsystem, State< T > *state) const
 Retrieves the state for a particular subsystem from the state for the entire diagram. More...
 
const State< T > & GetSubsystemState (const System< T > &subsystem, const State< T > &state) const
 Retrieves the state for a particular subsystem from the state for the entire diagram. More...
 
void GetPath (std::stringstream *output) const override
 Returns the full path of this Diagram in the tree of Diagrams. More...
 
void EvaluateSubsystemInputPort (const Context< T > *context, const InputPortDescriptor< T > &descriptor) const override
 Evaluates the value of the subsystem input port with the given id in the given context. More...
 
int GetSystemIndexOrAbort (const System< T > *sys) const
 Returns the index of the given sys in this diagram, or aborts if sys is not a member of the diagram. More...
 
 Diagram (const Diagram &)=delete
 
Diagramoperator= (const Diagram &)=delete
 
 Diagram (Diagram &&)=delete
 
Diagramoperator= (Diagram &&)=delete
 
void GetGraphvizFragment (std::stringstream *dot) const override
 Returns a Graphviz fragment describing this Diagram. More...
 
void GetGraphvizInputPortToken (const InputPortDescriptor< T > &port, std::stringstream *dot) const override
 Appends a fragment to the dot stream identifying the graphviz node representing port. More...
 
void GetGraphvizOutputPortToken (const OutputPort< T > &port, std::stringstream *dot) const override
 Appends a fragment to the dot stream identifying the graphviz node representing port. More...
 
- Public Member Functions inherited from System< T >
virtual ~System ()
 
void GetWitnessFunctions (const Context< T > &context, std::vector< const WitnessFunction< T > * > *w) const
 Gets the witness functions active at the beginning of a continuous time interval. More...
 
EvaluateWitness (const Context< T > &context, const WitnessFunction< T > &witness_func) const
 Evaluates a witness function at the given context. More...
 
std::string GetSystemIdString () const
 Returns a string suitable for identifying this particular System in error messages, when it is a subsystem of a larger Diagram. More...
 
 System (const System &)=delete
 
Systemoperator= (const System &)=delete
 
 System (System &&)=delete
 
Systemoperator= (System &&)=delete
 
std::unique_ptr< BasicVector< T > > AllocateInputVector (const InputPortDescriptor< T > &descriptor) const
 Given a port descriptor, allocates the vector storage. More...
 
std::unique_ptr< AbstractValueAllocateInputAbstract (const InputPortDescriptor< T > &descriptor) const
 Given a port descriptor, allocates the abstract storage. More...
 
std::unique_ptr< Context< T > > CreateDefaultContext () const
 This convenience method allocates a context using AllocateContext() and sets its default values using SetDefaults(). More...
 
void AllocateFreestandingInputs (Context< T > *context) const
 For each input port, allocates a freestanding input of the concrete type that this System requires, and binds it to the port, disconnecting any prior input. More...
 
bool HasAnyDirectFeedthrough () const
 Returns true if any of the inputs to the system might be directly fed through to any of its outputs and false otherwise. More...
 
bool HasDirectFeedthrough (int output_port) const
 Returns true if there might be direct-feedthrough from any input port to the given output_port, and false otherwise. More...
 
bool HasDirectFeedthrough (int input_port, int output_port) const
 Returns true if there might be direct-feedthrough from the given input_port to the given output_port, and false otherwise. More...
 
void Publish (const Context< T > &context, const EventCollection< PublishEvent< T >> &events) const
 This method is the public entry point for dispatching all publish event handlers. More...
 
void Publish (const Context< T > &context) const
 Forces a publish on the system, given a context. More...
 
const T & EvalConservativePower (const Context< T > &context) const
 Returns a reference to the cached value of the conservative power. More...
 
const T & EvalNonConservativePower (const Context< T > &context) const
 Returns a reference to the cached value of the non-conservative power. More...
 
template<template< typename > class Vec = BasicVector>
const Vec< T > * EvalVectorInput (const Context< T > &context, int port_index) const
 Causes the vector-valued input port with the given port_index to become up-to-date, delegating to our parent Diagram if necessary. More...
 
Eigen::VectorBlock< const VectorX< T > > EvalEigenVectorInput (const Context< T > &context, int port_index) const
 Causes the vector-valued input port with the given port_index to become up-to-date, delegating to our parent Diagram if necessary. More...
 
const AbstractValueEvalAbstractInput (const Context< T > &context, int port_index) const
 Causes the abstract-valued input port with the given port_index to become up-to-date, delegating to our parent Diagram if necessary. More...
 
template<typename V >
const V * EvalInputValue (const Context< T > &context, int port_index) const
 Causes the abstract-valued input port with the given port_index to become up-to-date, delegating to our parent Diagram if necessary. More...
 
int get_num_constraint_equations (const Context< T > &context) const
 Gets the number of constraint equations for this system using the given context (useful in case the number of constraints is dependent upon the current state (as might be the case with a system modeled using piecewise differential algebraic equations). More...
 
Eigen::VectorXd EvalConstraintEquations (const Context< T > &context) const
 Evaluates the constraint equations for the system at the generalized coordinates and generalized velocity specified by the context. More...
 
Eigen::VectorXd EvalConstraintEquationsDot (const Context< T > &context) const
 Computes the time derivative of each constraint equation, evaluated at the generalized coordinates and generalized velocity specified by the context. More...
 
Eigen::VectorXd CalcVelocityChangeFromConstraintImpulses (const Context< T > &context, const Eigen::MatrixXd &J, const Eigen::VectorXd &lambda) const
 Computes the change in velocity from applying the given constraint forces to the system at the given context. More...
 
double CalcConstraintErrorNorm (const Context< T > &context, const Eigen::VectorXd &error) const
 Computes the norm on constraint error (used as a metric for comparing errors between the outputs of algebraic equations applied to two different state variable instances). More...
 
void CalcTimeDerivatives (const Context< T > &context, ContinuousState< T > *derivatives) const
 Calculates the time derivatives xcdot of the continuous state xc. More...
 
void CalcDiscreteVariableUpdates (const Context< T > &context, const EventCollection< DiscreteUpdateEvent< T >> &events, DiscreteValues< T > *discrete_state) const
 This method is the public entry point for dispatching all discrete variable update event handlers. More...
 
void CalcDiscreteVariableUpdates (const Context< T > &context, DiscreteValues< T > *discrete_state) const
 This method forces a discrete update on the system given a context, and the updated discrete state is stored in discrete_state. More...
 
void CalcUnrestrictedUpdate (const Context< T > &context, const EventCollection< UnrestrictedUpdateEvent< T >> &events, State< T > *state) const
 This method is the public entry point for dispatching all unrestricted update event handlers. More...
 
void CalcUnrestrictedUpdate (const Context< T > &context, State< T > *state) const
 This method forces an unrestricted update on the system given a context, and the updated state is stored in discrete_state. More...
 
CalcNextUpdateTime (const Context< T > &context, CompositeEventCollection< T > *events) const
 This method is called by a Simulator during its calculation of the size of the next continuous step to attempt. More...
 
void GetPerStepEvents (const Context< T > &context, CompositeEventCollection< T > *events) const
 This method is called by Simulator::Initialize() to gather all update and publish events that are to be handled in StepTo() at the point before Simulator integrates continuous state. More...
 
void CalcOutput (const Context< T > &context, SystemOutput< T > *outputs) const
 Utility method that computes for every output port i the value y(i) that should result from the current contents of the given Context. More...
 
CalcPotentialEnergy (const Context< T > &context) const
 Calculates and returns the potential energy current stored in the configuration provided in context. More...
 
CalcKineticEnergy (const Context< T > &context) const
 Calculates and returns the kinetic energy currently present in the motion provided in the given Context. More...
 
CalcConservativePower (const Context< T > &context) const
 Calculates and returns the rate at which mechanical energy is being converted from potential energy to kinetic energy by this system in the given Context. More...
 
CalcNonConservativePower (const Context< T > &context) const
 Calculates and returns the rate at which mechanical energy is being generated (positive) or dissipated (negative) other than by conversion between potential and kinetic energy (in the given Context). More...
 
void MapVelocityToQDot (const Context< T > &context, const VectorBase< T > &generalized_velocity, VectorBase< T > *qdot) const
 Transforms a given generalized velocity v to the time derivative qdot of the generalized configuration q taken from the supplied Context. More...
 
void MapVelocityToQDot (const Context< T > &context, const Eigen::Ref< const VectorX< T >> &generalized_velocity, VectorBase< T > *qdot) const
 Transforms the given generalized velocity to the time derivative of generalized configuration. More...
 
void MapQDotToVelocity (const Context< T > &context, const VectorBase< T > &qdot, VectorBase< T > *generalized_velocity) const
 Transforms the time derivative qdot of the generalized configuration q to generalized velocities v. More...
 
void MapQDotToVelocity (const Context< T > &context, const Eigen::Ref< const VectorX< T >> &qdot, VectorBase< T > *generalized_velocity) const
 Transforms the given time derivative qdot of generalized configuration q to generalized velocity v. More...
 
void set_name (const std::string &name)
 Sets the name of the system. More...
 
std::string get_name () const
 Returns the name last supplied to set_name(), or empty if set_name() was never called. More...
 
std::string GetMemoryObjectName () const
 Returns a name for this System based on a stringification of its type name and memory address. More...
 
void GetPath (std::stringstream *output) const
 Writes the full path of this System in the tree of Systems to output. More...
 
std::string GetPath () const
 
int get_num_input_ports () const
 Returns the number of input ports of the system. More...
 
int get_num_output_ports () const
 Returns the number of output ports of the system. More...
 
const InputPortDescriptor< T > & get_input_port (int port_index) const
 Returns the descriptor of the input port at index port_index. More...
 
const OutputPort< T > & get_output_port (int port_index) const
 Returns the output port at index port_index. More...
 
int get_num_total_inputs () const
 Returns the total dimension of all of the input ports (as if they were muxed). More...
 
int get_num_total_outputs () const
 Returns the total dimension of all of the output ports (as if they were muxed). More...
 
void CheckValidOutput (const SystemOutput< T > *output) const
 Checks that output is consistent with the number and size of output ports declared by the system. More...
 
template<typename T1 = T>
void CheckValidContext (const Context< T1 > &context) const
 Checks that context is consistent for this System template. More...
 
VectorX< T > CopyContinuousStateVector (const Context< T > &context) const
 Returns a copy of the continuous state vector xc into an Eigen vector. More...
 
void set_parent (const detail::InputPortEvaluatorInterface< T > *parent)
 Declares that parent is the immediately enclosing Diagram. More...
 
std::string GetGraphvizString () const
 Returns a Graphviz string describing this System. More...
 
int64_t GetGraphvizId () const
 Returns an opaque integer that uniquely identifies this system in the Graphviz output. More...
 
void FixInputPortsFrom (const System< double > &other_system, const Context< double > &other_context, Context< T > *target_context) const
 Fixes all of the input ports in target_context to their current values in other_context, as evaluated by other_system. More...
 
std::unique_ptr< System< AutoDiffXd > > ToAutoDiffXd () const
 Creates a deep copy of this System, transmogrified to use the autodiff scalar type, with a dynamic-sized vector of partial derivatives. More...
 
std::unique_ptr< System< symbolic::Expression > > ToSymbolic () const
 Creates a deep copy of this System, transmogrified to use the symbolic scalar type. More...
 
- Public Member Functions inherited from InputPortEvaluatorInterface< T >
 InputPortEvaluatorInterface ()
 
virtual ~InputPortEvaluatorInterface ()
 
 InputPortEvaluatorInterface (const InputPortEvaluatorInterface &)=delete
 
InputPortEvaluatorInterfaceoperator= (const InputPortEvaluatorInterface &)=delete
 
 InputPortEvaluatorInterface (InputPortEvaluatorInterface &&)=delete
 
InputPortEvaluatorInterfaceoperator= (InputPortEvaluatorInterface &&)=delete
 

Static Public Member Functions

static ConnectResult ConnectController (const InputPortDescriptor< T > &plant_input, const OutputPort< T > &plant_output, const MatrixX< double > &feedback_selector, const Eigen::VectorXd &Kp, const Eigen::VectorXd &Ki, const Eigen::VectorXd &Kd, DiagramBuilder< T > *builder)
 Creates a PidController and uses builder to connect plant_input and plant_output from an existing plant. More...
 
static ConnectResult ConnectController (const InputPortDescriptor< T > &plant_input, const OutputPort< T > &plant_output, const Eigen::VectorXd &Kp, const Eigen::VectorXd &Ki, const Eigen::VectorXd &Kd, DiagramBuilder< T > *builder)
 Creates a PidController and uses builder to connect plant_input and plant_output from an existing plant. More...
 
static ConnectResult ConnectControllerWithInputSaturation (const InputPortDescriptor< T > &plant_input, const OutputPort< T > &plant_output, const MatrixX< double > &feedback_selector, const Eigen::VectorXd &Kp, const Eigen::VectorXd &Ki, const Eigen::VectorXd &Kd, const VectorX< T > &min_plant_input, const VectorX< T > &max_plant_input, DiagramBuilder< T > *builder)
 Creates a PidController with input saturation and uses builder to connect plant_input and plant_output from an existing plant. More...
 
static ConnectResult ConnectControllerWithInputSaturation (const InputPortDescriptor< T > &plant_input, const OutputPort< T > &plant_output, const Eigen::VectorXd &Kp, const Eigen::VectorXd &Ki, const Eigen::VectorXd &Kd, const VectorX< T > &min_plant_input, const VectorX< T > &max_plant_input, DiagramBuilder< T > *builder)
 Creates a PidController with input saturation and uses builder to connect plant_input and plant_output from an existing plant. More...
 
- Static Public Member Functions inherited from System< T >
template<template< typename > class S = ::drake::systems::System>
static std::unique_ptr< S< AutoDiffXd > > ToAutoDiffXd (const System< double > &from)
 Creates a deep copy of from, transmogrified to use the autodiff scalar type, with a dynamic-sized vector of partial derivatives. More...
 
template<template< typename > class S = ::drake::systems::System>
static std::unique_ptr< S< symbolic::Expression > > ToSymbolic (const System< double > &from)
 Creates a deep copy of from, transmogrified to use the symbolic scalar type. More...
 

Additional Inherited Members

- Public Types inherited from Diagram< T >
typedef std::pair< const System< T > *, intPortIdentifier
 
- Protected Member Functions inherited from Diagram< T >
 Diagram ()
 Constructs an uninitialized Diagram. More...
 
DoEvaluateWitness (const Context< T > &context, const WitnessFunction< T > &witness_func) const final
 For the subsystem associated with witness_func, gets its subcontext from context, passes the subcontext to witness_func' Evaulate method and returns the result. More...
 
void AddTriggeredWitnessFunctionToCompositeEventCollection (const WitnessFunction< T > &witness_func, CompositeEventCollection< T > *events) const final
 For the subsystem associated with witness_func, gets its mutable sub composite event collection from events, and passes it to witness_func's AddEvent method. More...
 
void DoGetWitnessFunctions (const Context< T > &context, std::vector< const WitnessFunction< T > * > *witnesses) const final
 Provides witness functions of subsystems that are active at the beginning of a continuous time interval. More...
 
Context< T > * DoGetMutableTargetSystemContext (const System< T > &target_system, Context< T > *context) const final
 Returns a pointer to mutable context if target_system is a sub system of this, nullptr is returned otherwise. More...
 
const Context< T > * DoGetTargetSystemContext (const System< T > &target_system, const Context< T > *context) const final
 Returns a pointer to const context if target_system is a subsystem of this, nullptr is returned otherwise. More...
 
State< T > * DoGetMutableTargetSystemState (const System< T > &target_system, State< T > *state) const final
 Returns a pointer to mutable state if target_system is a subsystem of this, nullptr is returned otherwise. More...
 
const State< T > * DoGetTargetSystemState (const System< T > &target_system, const State< T > *state) const final
 Returns a pointer to const state if target_system is a subsystem of this, nullptr is returned otherwise. More...
 
CompositeEventCollection< T > * DoGetMutableTargetSystemCompositeEventCollection (const System< T > &target_system, CompositeEventCollection< T > *events) const final
 Returns a pointer to mutable composite event collection if target_system is a subsystem of this, nullptr is returned otherwise. More...
 
const CompositeEventCollection< T > * DoGetTargetSystemCompositeEventCollection (const System< T > &target_system, const CompositeEventCollection< T > *events) const final
 Returns a pointer to const composite event collection if target_system is a subsystem of this, nullptr is returned otherwise. More...
 
void DoMapVelocityToQDot (const Context< T > &context, const Eigen::Ref< const VectorX< T >> &generalized_velocity, VectorBase< T > *qdot) const override
 The generalized_velocity vector must have the same size and ordering as the generalized velocity in the ContinuousState that this Diagram reserves in its context. More...
 
void DoMapQDotToVelocity (const Context< T > &context, const Eigen::Ref< const VectorX< T >> &qdot, VectorBase< T > *generalized_velocity) const override
 The generalized_velocity vector must have the same size and ordering as the generalized velocity in the ContinuousState that this Diagram reserves in its context. More...
 
void DoCalcNextUpdateTime (const Context< T > &context, CompositeEventCollection< T > *event_info, T *time) const override
 Computes the next update time based on the configured actions, for scalar types that are arithmetic, or aborts for scalar types that are not arithmetic. More...
 
Diagram< AutoDiffXd > * DoToAutoDiffXd () const override
 Creates a deep copy of this Diagram<double>, converting the scalar type to AutoDiffXd, and preserving all internal structure. More...
 
Diagram< symbolic::Expression > * DoToSymbolic () const override
 Creates a deep copy of this Diagram<double>, converting the scalar type to symbolic::Expression, and preserving all internal structure. More...
 
BasicVector< T > * DoAllocateInputVector (const InputPortDescriptor< T > &descriptor) const override
 Allocates an input vector of the leaf type that the System requires on the port specified by descriptor. More...
 
AbstractValueDoAllocateInputAbstract (const InputPortDescriptor< T > &descriptor) const override
 Allocates an abstract input of the leaf type that the System requires on the port specified by descriptor. More...
 
- Protected Member Functions inherited from System< T >
const EventCollection< PublishEvent< T > > & get_forced_publish_events () const
 
const EventCollection< DiscreteUpdateEvent< T > > & get_forced_discrete_update_events () const
 
const EventCollection< UnrestrictedUpdateEvent< T > > & get_forced_unrestricted_update_events () const
 
void set_forced_publish_events (std::unique_ptr< EventCollection< PublishEvent< T >>> forced)
 
void set_forced_discrete_update_events (std::unique_ptr< EventCollection< DiscreteUpdateEvent< T >>> forced)
 
void set_forced_unrestricted_update_events (std::unique_ptr< EventCollection< UnrestrictedUpdateEvent< T >>> forced)
 
 System ()
 Constructs an empty System base class object. More...
 
const InputPortDescriptor< T > & DeclareInputPort (PortDataType type, int size)
 Adds a port with the specified type and size to the input topology. More...
 
const InputPortDescriptor< T > & DeclareAbstractInputPort ()
 Adds an abstract-valued port to the input topology. More...
 
void CreateOutputPort (std::unique_ptr< OutputPort< T >> port)
 Adds an already-created output port to this System. More...
 
virtual T DoCalcPotentialEnergy (const Context< T > &context) const
 Override this method for physical systems to calculate the potential energy currently stored in the configuration provided in the given Context. More...
 
virtual T DoCalcKineticEnergy (const Context< T > &context) const
 Override this method for physical systems to calculate the kinetic energy currently present in the motion provided in the given Context. More...
 
virtual T DoCalcConservativePower (const Context< T > &context) const
 Override this method to return the rate at which mechanical energy is being converted from potential energy to kinetic energy by this system in the given Context. More...
 
virtual T DoCalcNonConservativePower (const Context< T > &context) const
 Override this method to return the rate at which mechanical energy is being generated (positive) or dissipated (negative) other than by conversion between potential and kinetic energy (in the given Context). More...
 
virtual int do_get_num_constraint_equations (const Context< T > &context) const
 Gets the number of constraint equations for this system from the given context. More...
 
virtual Eigen::VectorXd DoEvalConstraintEquations (const Context< T > &context) const
 Evaluates the constraint equations for the system at the generalized coordinates and generalized velocity specified by the context. More...
 
virtual Eigen::VectorXd DoEvalConstraintEquationsDot (const Context< T > &context) const
 Computes the time derivative of each constraint equation, evaluated at the generalized coordinates and generalized velocity specified by the context. More...
 
virtual Eigen::VectorXd DoCalcVelocityChangeFromConstraintImpulses (const Context< T > &context, const Eigen::MatrixXd &J, const Eigen::VectorXd &lambda) const
 Computes the change in velocity from applying the given constraint forces to the system at the given context. More...
 
virtual double DoCalcConstraintErrorNorm (const Context< T > &context, const Eigen::VectorXd &error) const
 Computes the norm of the constraint error. More...
 
Eigen::VectorBlock< VectorX< T > > GetMutableOutputVector (SystemOutput< T > *output, int port_index) const
 Returns a mutable Eigen expression for a vector valued output port with index port_index in this system. More...
 
void EvalInputPort (const Context< T > &context, int port_index) const
 Causes an InputPortValue in the context to become up-to-date, delegating to the parent Diagram if necessary. More...
 

Detailed Description

template<typename T>
class drake::systems::controllers::PidControlledSystem< T >

A system that encapsulates a PidController and a controlled System (a.k.a the "plant").

The passed in plant must meet the following properties:

  • Input port zero must be all of the control inputs (size U). When the plant is a dynamics model, this is typically the generalized effort (e.g., force or torque) command.
  • Output port zero must be of size 2 * Q, where the first Q elements are the position states of the plant, and the second Q elements are the velocity states of the plant. Q >= U.

The resulting PidControlledSystem has two input ports and one output port with the following properties:

  • Input port zero is the feed forward control (size U), which will be added onto the output of the PID controller. The sum is sent to the plant's input.
  • Input port one is the desired controlled states (2 * U) of the plant, where the first half are the controlled positions, and the second half are the controlled velocities.
  • The output port is the current state of the plant (it is the direct pass-through of the plant's output port).

Some of the constructors include a parameter called feedback_selector. It is used to select the controlled states from the plant's state output port. Let S be the gain matrix in parameter feedback_selector. S must have dimensions of (2 * U, 2 * Q). Typically, S contains one 1 in each row, and zeros everywhere else. S does not affect the desired state input. Let 'x' be the full state of the plant (size 2 * Q), and 'x_d' be the desired state (size 2 * U), S is used to compute the state error as x_err = S * x - x_d.

Template Parameters
TThe vector element type, which must be a valid Eigen scalar.

Instantiated templates for the following kinds of T's are provided:

  • double
  • AutoDiffXd

Constructor & Destructor Documentation

PidControlledSystem ( const PidControlledSystem< T > &  )
delete
PidControlledSystem ( std::unique_ptr< System< T >>  plant,
double  Kp,
double  Ki,
double  Kd 
)

plant full state is used for feedback control, and all the dimensions have homogeneous gains specified by Kp, Kd and Ki.

Parameters
[in]plantThe system to be controlled. This must not be nullptr.
[in]Kpthe proportional constant.
[in]Kithe integral constant.
[in]Kdthe derivative constant.
PidControlledSystem ( std::unique_ptr< System< T >>  plant,
const Eigen::VectorXd &  Kp,
const Eigen::VectorXd &  Ki,
const Eigen::VectorXd &  Kd 
)

plant full state is used for feedback control, and the vectorized gains are specified by Kp, Kd and Ki.

Parameters
[in]plantThe system to be controlled. This must not be nullptr.
[in]Kpthe proportional vector constant.
[in]Kithe integral vector constant.
[in]Kdthe derivative vector constant.
PidControlledSystem ( std::unique_ptr< System< T >>  plant,
const MatrixX< double > &  feedback_selector,
double  Kp,
double  Ki,
double  Kd 
)

A constructor where the gains are scalar values and some of the plant's output is part of the feedback signal as specified by feedback_selector.

Parameters
[in]plantThe system to be controlled. This must not be nullptr.
[in]feedback_selectorThe matrix that selects which part of the plant's full state is fed back to the PID controller. For semantic details of this parameter, see this class's description.
[in]Kpthe proportional constant.
[in]Kithe integral constant.
[in]Kdthe derivative constant.

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PidControlledSystem ( std::unique_ptr< System< T >>  plant,
const MatrixX< double > &  feedback_selector,
const Eigen::VectorXd &  Kp,
const Eigen::VectorXd &  Ki,
const Eigen::VectorXd &  Kd 
)

A constructor where the gains are vector values and some of the plant's output is part of the feedback signal as specified by feedback_selector.

Parameters
[in]plantThe system to be controlled. This must not be nullptr.
[in]feedback_selectorThe matrix that selects which part of the plant's full state is fed back to the PID controller. For semantic details of this parameter, see this class's description.
[in]Kpthe proportional vector constant.
[in]Kithe integral vector constant.
[in]Kdthe derivative vector constant.

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~PidControlledSystem ( )
override

Member Function Documentation

PidControlledSystem< T >::ConnectResult ConnectController ( const InputPortDescriptor< T > &  plant_input,
const OutputPort< T > &  plant_output,
const MatrixX< double > &  feedback_selector,
const Eigen::VectorXd &  Kp,
const Eigen::VectorXd &  Ki,
const Eigen::VectorXd &  Kd,
DiagramBuilder< T > *  builder 
)
static

Creates a PidController and uses builder to connect plant_input and plant_output from an existing plant.

The controlled states are selected by feedback_selector.

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PidControlledSystem< T >::ConnectResult ConnectController ( const InputPortDescriptor< T > &  plant_input,
const OutputPort< T > &  plant_output,
const Eigen::VectorXd &  Kp,
const Eigen::VectorXd &  Ki,
const Eigen::VectorXd &  Kd,
DiagramBuilder< T > *  builder 
)
static

Creates a PidController and uses builder to connect plant_input and plant_output from an existing plant.

The plant's full state is used for feedback.

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PidControlledSystem< T >::ConnectResult ConnectControllerWithInputSaturation ( const InputPortDescriptor< T > &  plant_input,
const OutputPort< T > &  plant_output,
const MatrixX< double > &  feedback_selector,
const Eigen::VectorXd &  Kp,
const Eigen::VectorXd &  Ki,
const Eigen::VectorXd &  Kd,
const VectorX< T > &  min_plant_input,
const VectorX< T > &  max_plant_input,
DiagramBuilder< T > *  builder 
)
static

Creates a PidController with input saturation and uses builder to connect plant_input and plant_output from an existing plant.

The controlled states are selected by feedback_selector. The output of the PidController is clipped to be within the specified bounds. Note that using input limits along with integral gain constant may cause the integrator to windup.

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PidControlledSystem< T >::ConnectResult ConnectControllerWithInputSaturation ( const InputPortDescriptor< T > &  plant_input,
const OutputPort< T > &  plant_output,
const Eigen::VectorXd &  Kp,
const Eigen::VectorXd &  Ki,
const Eigen::VectorXd &  Kd,
const VectorX< T > &  min_plant_input,
const VectorX< T > &  max_plant_input,
DiagramBuilder< T > *  builder 
)
static

Creates a PidController with input saturation and uses builder to connect plant_input and plant_output from an existing plant.

The plant's full state is used for feedback. The output of the PidController is clipped to be within the specified bounds. Note that using input limits along with integral gain constant may cause the integrator to windup.

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const InputPortDescriptor<T>& get_control_input_port ( ) const
inline
Returns
the input port for the feed forward control input.

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const InputPortDescriptor<T>& get_state_input_port ( ) const
inline
Returns
the input port for the desired position/velocity state.

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PidControlledSystem& operator= ( PidControlledSystem< T > &&  )
delete
PidControlledSystem& operator= ( const PidControlledSystem< T > &  )
delete
System<T>* plant ( )
inline

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