PidTranslationalControl.h

/******************************************************************************
* Copyright (c) ATTX LLC 2024. All Rights Reserved.
*
* This software and associated documentation (the "Software") are the 
* proprietary and confidential information of ATTX, LLC. The Software is 
* furnished under a license agreement between ATTX and the user organization 
* and may be used or copied only in accordance with the terms of the agreement.
* Refer to 'license/attx_license.adoc' for standard license terms.
*
* EXPORT CONTROL NOTICE: THIS SOFTWARE MAY INCLUDE CONTENT CONTROLLED UNDER THE
* INTERNATIONAL TRAFFIC IN ARMS REGULATIONS (ITAR) OR THE EXPORT ADMINISTRATION 
* REGULATIONS (EAR99). No part of the Software may be used, reproduced, or 
* transmitted in any form or by any means, for any purpose, without the express 
* written permission of ATTX, LLC.
******************************************************************************/
/*
Simple PID header file
 
Author: Alex Reynolds
*/
 
#ifndef GNC_CONTROL_PID_TRANSLATIONAL_CONTROL_H
#define GNC_CONTROL_PID_TRANSLATIONAL_CONTROL_H
 
#include "core/macros.h"
#include "architecture/Tasks.h"
#include "six_dof_dynamics/Frame.hpp"
#include "utils/frameutils.hpp"
 
namespace clockwerk {
 
    /**
     * @brief   Simple PID controller header file
     * 
     * 
    */
    class PidTranslationalControl : public clockwerk::Task {
    public:
        // Model params
        //         NAME                     TYPE                    DEFAULT VALUE
        START_PARAMS
            /** The proportional weight in the PID controller */
            SIGNAL(P,                       double,                 0.0)
            /** The integral weight in the PID controller */
            SIGNAL(I,                       double,                 0.0)
            /** The derivative weight in the PID controller */
            SIGNAL(D,                       double,                 0.0)
        END_PARAMS
 
        // Model inputs
        //         NAME                     TYPE                    DEFAULT VALUE
        START_INPUTS
            /** The commanded vector. This is the desired state for the system to achieve */
            SIGNAL(cmd_state,               CartesianVector3D,      CartesianVector3D({0.0,0.0,0.0}))
            /** The actual state vector. This is the current state of the system */
            SIGNAL(act_state,               CartesianVector3D,      CartesianVector3D({0.0,0.0,0.0}))
            /** The rate of change in the state vector. This is the current rate of change in the system */
            SIGNAL(deriv_state,             CartesianVector3D,      CartesianVector3D({0.0,0.0,0.0}))
        END_INPUTS
 
        // Model outputs
        //         NAME                     TYPE                    DEFAULT VALUE
        START_OUTPUTS
            /** The control command provided by the controller */
            SIGNAL(control_cmd,             CartesianVector3D,      CartesianVector3D({0.0,0.0,0.0}))
            /** The current error in the system - actual - cmd */
            SIGNAL(error,                   CartesianVector3D,      CartesianVector3D({0.0,0.0,0.0}))
            /** The integrated error in the system -- summation of error over time */
            SIGNAL(integrated_error,        CartesianVector3D,      CartesianVector3D({0.0,0.0,0.0}))
        END_OUTPUTS
 
        // Model dependencies
        struct Dependency { } dependency;
 
        // Model-specific implementations of startup and derivative
        PidTranslationalControl() : clockwerk::Task() {}
        PidTranslationalControl(clockwerk::Task &pnt, int schedule_slot=0, const std::string &m_name="simple_pid_task")
            : clockwerk::Task(pnt, schedule_slot, m_name) {}
        PidTranslationalControl(clockwerk::Executive &e, int schedule_slot=0, const std::string &m_name="simple_pid_task")
            : clockwerk::Task(e, schedule_slot, m_name) {}
        virtual ~PidTranslationalControl() {}
    protected:
        int execute();
    };
 
}
 
#endif