~ubuntu-branches/ubuntu/trusty/yade/trusty

struct ServoPIDController: public TranslationEngine{

  virtual void apply(const vector<Body::id_t>& ids);

  YADE_CLASS_BASE_DOC_ATTRS_CTOR_PY(ServoPIDController,TranslationEngine,"PIDController servo-engine for applying prescribed force on bodies. http://en.wikipedia.org/wiki/PID_controller",

    ((Real,maxVelocity,0.0,,"Velocity [m/s]"))

    ((Vector3r,axis,Vector3r::Zero(),,"Unit vector along which apply the velocity [-]"))

    ((Real,target,0.0,,"Target value for the controller [N]"))

    ((Real,kP,0.0,,"Proportional gain/coefficient for the PID-controller [-]"))

    ((Real,kI,0.0,,"Integral gain/coefficient for the PID-controller [-]"))

    ((Real,kD,0.0,,"Derivative gain/coefficient for the PID-controller [-]"))

    ((Real,iTerm,0.0,,"Integral term [N]"))

    ((Real,curVel,0.0,,"Current applied velocity [m/s]"))

    ((Real,errorCur,0.0,,"Current error [N]"))

    ((Real,errorPrev,0.0,,"Previous error [N]"))

    ((long,iterPeriod,100.0,,"Periodicity criterion of velocity correlation [-]"))

    ((long,iterPrevStart,-1.0,,"Previous iteration of velocity correlation [-]"))

    /* attrs*/, 

    /* ctor */, 

    /* py */

  )

  DECLARE_LOGGER;

};

REGISTER_SERIALIZABLE(ServoPIDController);