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/* ScummVM - Graphic Adventure Engine
*
* ScummVM is the legal property of its developers, whose names
* are too numerous to list here. Please refer to the COPYRIGHT
* file distributed with this source distribution.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
/*
* Copyright (C) 2006-2010 - Frictional Games
*
* This file is part of HPL1 Engine.
*/
#ifndef HPL_PID_CONTROLLER_H
#define HPL_PID_CONTROLLER_H
#include "hpl1/algorithms.h"
#include "hpl1/engine/math/MathTypes.h"
namespace hpl {
template<class T>
class cPidController {
public:
float p, i, d;
//////////////////////////////////////////
// Constructors
/////////////////////////////////////////
cPidController() {
Reset();
}
cPidController(float afP, float afI, float afD, int alErrorNum) {
p = afP;
i = afI;
d = afD;
SetErrorNum(alErrorNum);
Reset();
}
//////////////////////////////////////////
// Public
/////////////////////////////////////////
//------------------------------------
T Output(T aError, float afTimeStep) {
mvErrors[mlErrorNum] = aError;
mvTimeSteps[mlErrorNum] = afTimeStep;
integral = 0;
size_t lCount = mvErrors.size();
for (size_t error = 0; error < lCount; ++error) {
integral += mvErrors[error] * mvTimeSteps[error];
}
derivative = 0.0f;
if (mlLastNum >= 0) {
derivative = (mvErrors[mlErrorNum] - mvErrors[mlLastNum]) / afTimeStep;
}
mlLastNum = mlErrorNum;
mlErrorNum++;
if (mlErrorNum >= (int)mvErrors.size())
mlErrorNum = 0;
return mvErrors[mlLastNum] * p + integral * i + derivative * d;
}
//------------------------------------
void SetErrorNum(int alErrorNum) {
mvErrors.resize(alErrorNum);
Hpl1::resizeAndFill(mvTimeSteps, alErrorNum, 0.f);
}
//------------------------------------
void Reset() {
mlErrorNum = 0;
mlLastNum = -1;
Common::fill(mvTimeSteps.begin(), mvTimeSteps.end(), 0);
integral = 0;
derivative = 0;
}
//------------------------------------
T GetLastError() {
if (mlLastNum >= 0)
return mvErrors[mlLastNum];
return 0;
}
T GetLastDerivative() {
return derivative;
}
T GetLastIntegral() {
return integral;
}
//------------------------------------
private:
Common::Array<T> mvErrors;
Common::Array<float> mvTimeSteps;
T integral, derivative;
int mlErrorNum;
int mlLastNum;
};
//---------------------------------
typedef cPidController<float> cPidControllerf;
typedef cPidController<cVector3f> cPidControllerVec3;
} // namespace hpl
#endif // HPL_PID_CONTROLLER_H
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