ClosedLoopController< TInput, TOutput > Class Template Reference

#include <closed_loop_controller.h>

Public Member Functions
void	update ()

Private Member Functions
expected< TOutput >	getOutput ()
virtual expected< TInput >	getSetpoint ()=0
virtual expected< TInput >	observePlant ()=0
virtual expected< TOutput >	getOpenLoop (TInput setpoint)=0
virtual expected< TOutput >	getClosedLoop (TInput setpoint, TInput observation)=0
virtual void	setOutput (expected< TOutput > outputValue)=0

Detailed Description

template<typename TInput, typename TOutput>
class ClosedLoopController< TInput, TOutput >

Definition at line 10 of file closed_loop_controller.h.

Member Function Documentation

getClosedLoop()

template<typename TInput , typename TOutput >

virtual expected< TOutput > ClosedLoopController< TInput, TOutput >::getClosedLoop ( TInput  setpoint, TInput  observation  )

privatepure virtual

Implemented in VvtController, AlternatorController, BoostController, and EtbController.

Referenced by ClosedLoopController< TInput, TOutput >::getOutput().

Here is the caller graph for this function:

getOpenLoop()

template<typename TInput , typename TOutput >

virtual expected< TOutput > ClosedLoopController< TInput, TOutput >::getOpenLoop ( TInput  setpoint )

privatepure virtual

Implemented in VvtController, AlternatorController, BoostController, and EtbController.

Referenced by ClosedLoopController< TInput, TOutput >::getOutput().

Here is the caller graph for this function:

getOutput()

template<typename TInput , typename TOutput >

expected< TOutput > ClosedLoopController< TInput, TOutput >::getOutput ( )

inlineprivate

Definition at line 18 of file closed_loop_controller.h.

                                  {
        expected<TInput> setpoint = getSetpoint();
        // If we don't know the setpoint, return failure.
        if (!setpoint) {
            return unexpected;
        }
 
        expected<TInput> observation = observePlant();
        // If we couldn't observe the plant, return failure.
        if (!observation) {
            return unexpected;
        }
 
        expected<TOutput> openLoopResult = getOpenLoop(setpoint.Value);
        // If we couldn't compute open loop, return failure.
        if (!openLoopResult) {
            return unexpected;
        }
 
        expected<TOutput> closedLoopResult = getClosedLoop(setpoint.Value, observation.Value);
        // If we couldn't compute closed loop, return failure.
        if (!closedLoopResult) {
            return unexpected;
        }
 
        return openLoopResult.Value + closedLoopResult.Value;
    }

Referenced by ClosedLoopController< TInput, TOutput >::update().

Here is the call graph for this function:

Here is the caller graph for this function:

getSetpoint()

template<typename TInput , typename TOutput >

virtual expected< TInput > ClosedLoopController< TInput, TOutput >::getSetpoint ( )

privatepure virtual

Implemented in AlternatorController, BoostController, EtbController, and VvtController.

Referenced by ClosedLoopController< TInput, TOutput >::getOutput().

Here is the caller graph for this function:

observePlant()

template<typename TInput , typename TOutput >

virtual expected< TInput > ClosedLoopController< TInput, TOutput >::observePlant ( )

privatepure virtual

Implemented in AlternatorController, BoostController, EtbController, and VvtController.

Referenced by ClosedLoopController< TInput, TOutput >::getOutput().

Here is the caller graph for this function:

setOutput()

template<typename TInput , typename TOutput >

virtual void ClosedLoopController< TInput, TOutput >::setOutput ( expected< TOutput >  outputValue )

privatepure virtual

Implemented in AlternatorController, BoostController, EtbController, and VvtController.

Referenced by ClosedLoopController< TInput, TOutput >::update().

Here is the caller graph for this function:

update()

template<typename TInput , typename TOutput >

void ClosedLoopController< TInput, TOutput >::update ( )

inline

Definition at line 12 of file closed_loop_controller.h.

                  {
        expected<TOutput> outputValue = getOutput();
        setOutput(outputValue);
    }

Referenced by BoostController::onFastCallback(), and EtbController::update().

Here is the call graph for this function:

Here is the caller graph for this function:

---

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

• controllers/closed_loop_controller.h