controlpp::timevar::PControl< T > Class Template Reference

A P (Proportional) controller. More...

#include <controlpp/TimeVariantControl.hpp>

Public Types
using	value_type = T

Public Member Functions
constexpr	PControl (const PControl &)=default
	Default copy constructor.
constexpr	PControl (const T &kp)
	Construct a P (Proportional) controller with a constant gain.
constexpr void	kp (const T &kp)
	sets the proportional gain
constexpr const T &	kp () const
	returns the current gain
constexpr T	input (const T &u)
	Adds a new sample.
constexpr T	input (const T &u, const T &Ts)
	Adds a new sample.
constexpr T	operator() (const T &u)
	Adds a new sample.
constexpr T	operator() (const T &u, const T &Ts)
	Adds a new sample.
constexpr void	reset ()
	resets the internal states of the filter

Friends
constexpr ValueSampletimePair< T >	operator>> (const ValueSampletimePair< T > &p, PControl &c)

Detailed Description

template<class T>
class controlpp::timevar::PControl< T >

A P (Proportional) controller.

has the following transfer function

\[ y_k = k_p u_k \]

where:

• \(y_k\) is the output of the controller of the data sample k
• \(u_k\) is the k-th input sample
• \(k_p\) is the controller gain

Template Parameters

T	the data type the controller uses, like float or double

Member Typedef Documentation

value_type

template<class T >

using controlpp::timevar::PControl< T >::value_type = T

Constructor & Destructor Documentation

PControl() [1/2]

template<class T >

constexpr controlpp::timevar::PControl< T >::PControl ( const PControl< T > &  )

constexprdefault

Default copy constructor.

PControl() [2/2]

template<class T >

constexpr controlpp::timevar::PControl< T >::PControl ( const T &  kp )

inlineconstexpr

Construct a P (Proportional) controller with a constant gain.

Parameters

kp	the proportional gain of the controller

Member Function Documentation

input() [1/2]

template<class T >

constexpr T controlpp::timevar::PControl< T >::input ( const T &  u )

inlineconstexpr

Adds a new sample.

Parameters

u	the new sample input

Returns

the new output based on the input

input() [2/2]

template<class T >

constexpr T controlpp::timevar::PControl< T >::input ( const T &  u, const T &  Ts  )

inlineconstexpr

Adds a new sample.

Parameters

u	the new sample input
Ts	sample time (unused - there for compatibility)

Returns

the new output based on the input

kp() [1/2]

template<class T >

constexpr const T & controlpp::timevar::PControl< T >::kp ( ) const

inlineconstexpr

returns the current gain

kp() [2/2]

template<class T >

constexpr void controlpp::timevar::PControl< T >::kp ( const T &  kp )

inlineconstexpr

sets the proportional gain

Parameters

kp	the new proportional gain for the next sample value

operator()() [1/2]

template<class T >

constexpr T controlpp::timevar::PControl< T >::operator() ( const T &  u )

inlineconstexpr

Adds a new sample.

Parameters

u	the new sample input

Returns

the new output based on the input

operator()() [2/2]

template<class T >

constexpr T controlpp::timevar::PControl< T >::operator() ( const T &  u, const T &  Ts  )

inlineconstexpr

Adds a new sample.

Parameters

u	the new sample input
Ts	sample time (unused - there for compatibility)

Returns

the new output based on the input

reset()

template<class T >

constexpr void controlpp::timevar::PControl< T >::reset ( )

inlineconstexpr

resets the internal states of the filter

For P control elements this is a no-op.

Friends And Related Symbol Documentation

operator>>

template<class T >

constexpr ValueSampletimePair< T > operator>> ( const ValueSampletimePair< T > &  p, PControl< T > &  c  )

friend

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

• include/controlpp/TimeVariantControl.hpp