ErrorAccumulator Class Reference

#include <error_accumulator.h>

Collaboration diagram for ErrorAccumulator:

Public Member Functions
void	init (float ignoreError, float dt)
float	accumulate (float error)
float	getAccumulator () const
void	reset ()

Private Attributes
float	m_ignoreError = 0
float	m_dt = 0
float	m_errorIntegral = 0

Detailed Description

Definition at line 3 of file error_accumulator.h.

Member Function Documentation

accumulate()

float ErrorAccumulator::accumulate

(

float

error

)

Definition at line 7 of file error_accumulator.cpp.

                                              {
    // We only care about the absolute value of the error
    error = absF(error);
 
    // If m_ignoreError is 5, for example:
    // 0 error      -> bleeds down at 5 per second
    // 5 error      -> integral stays where it is
    // 10 error     -> integral grows at 5 per second
    float accumulationRate = error - m_ignoreError;
 
    float newIntegral = accumulationRate * m_dt + m_errorIntegral;
 
    // Don't allow less than 0 error
    if (newIntegral < 0) {
        newIntegral = 0;
    }
 
    m_errorIntegral = newIntegral;
 
    return newIntegral;
}

Referenced by EtbController::getClosedLoop().

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getAccumulator()

float ErrorAccumulator::getAccumulator ( ) const

inline

Definition at line 14 of file error_accumulator.h.

                                 {
        return m_errorIntegral;
    }

init()

void ErrorAccumulator::init ( float  ignoreError, float  dt  )

inline

Definition at line 5 of file error_accumulator.h.

                                           {
        m_ignoreError = ignoreError;
        m_dt = dt;
    }

Referenced by EtbController::init().

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reset()

void ErrorAccumulator::reset

(

)

Definition at line 29 of file error_accumulator.cpp.

                             {
    m_errorIntegral = 0;
}

Referenced by EtbController::getClosedLoop().

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Field Documentation

m_dt

float ErrorAccumulator::m_dt = 0

private

Definition at line 25 of file error_accumulator.h.

Referenced by accumulate(), and init().

m_errorIntegral

float ErrorAccumulator::m_errorIntegral = 0

private

Definition at line 27 of file error_accumulator.h.

Referenced by accumulate(), getAccumulator(), and reset().

m_ignoreError

float ErrorAccumulator::m_ignoreError = 0

private

Definition at line 23 of file error_accumulator.h.

Referenced by accumulate(), and init().

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

• util/math/error_accumulator.h
• util/math/error_accumulator.cpp