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ros-controls / control_toolbox

This package contains several C++ classes useful in writing controllers.
https://control.ros.org
Apache License 2.0
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[PidROS] Support pass in a precomputed derivative error #120

Closed chenjunnn closed 2 years ago

chenjunnn commented 2 years ago

I'm trying to used IMU data to do the PID control. And I'm using calculated angle from IMU to compute the error and using angular velocity directly read from IMU to compute the error_dot. So passing in derivative error is needed.