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ros-controls / control_toolbox

This package contains several C++ classes useful in writing controllers.
https://control.ros.org
BSD 3-Clause "New" or "Revised" License
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Enable subclassing of PID implementation. #148

Closed destogl closed 1 year ago

destogl commented 1 year ago

In some cases, internal values of PID have to be manipulated to work on hardware. This change enables to subclass the PID implementation and adjust internal states as needed.

christophfroehlich commented 1 year ago

I'm just curious, which states do you have to manipulate (except for the gains)?

bijoua29 commented 1 year ago

I'm just curious, which states do you have to manipulate (except for the gains)?

Mainly used to subclass for some alternative implementations. For example, we subclass to implement an adaptive-based PID.