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  56. <script type="text/javascript">
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  57. $(document).ready(function(){initNavTree('class_pid_controller.html','');});
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  58. </script>
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  59. <div id="doc-content">
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  60. <div class="header">
    61. 

  61.   <div class="summary">
    62. 

  62. <a href="#pub-methods">公開メンバ関数</a> &#124;
    63. 

  63. <a href="class_pid_controller-members.html">全メンバ一覧</a>  </div>
    64. 

  64.   <div class="headertitle">
    65. 

  65. <div class="title">PidController クラス</div>  </div>
    66. 

  66. </div><!--header-->
    67. 

  67. <div class="contents">
    68. 

  68. 

  69. <p>PID制御用の計算を行うクラス  
    70. 

  70.  <a href="class_pid_controller.html#details">[詳解]</a></p>
    71. 

  71. 

  72. <p><code>#include &lt;<a class="el" href="_pid_controller_8h_source.html">PidController.h</a>&gt;</code></p>
    73. 

  73. <table class="memberdecls">
    74. 

  74. <tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
    75. 

  75. 公開メンバ関数</h2></td></tr>
    76. 

  76. <tr class="memitem:aeb65202ca21b9f805ccbe85de409a6b7"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_pid_controller.html#aeb65202ca21b9f805ccbe85de409a6b7">PidController</a> ()</td></tr>
    77. 

  77. <tr class="separator:aeb65202ca21b9f805ccbe85de409a6b7"><td class="memSeparator" colspan="2">&#160;</td></tr>
    78. 

  78. <tr class="memitem:aba29855291c608470b0c00ad75cfd3dc"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_pid_controller.html#aba29855291c608470b0c00ad75cfd3dc">~PidController</a> ()</td></tr>
    79. 

  79. <tr class="separator:aba29855291c608470b0c00ad75cfd3dc"><td class="memSeparator" colspan="2">&#160;</td></tr>
    80. 

  80. <tr class="memitem:a2bb9c2e11209403beb78c81e282a5553"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_pid_controller.html#a2bb9c2e11209403beb78c81e282a5553">init</a> ()</td></tr>
    81. 

  81. <tr class="separator:a2bb9c2e11209403beb78c81e282a5553"><td class="memSeparator" colspan="2">&#160;</td></tr>
    82. 

  82. <tr class="memitem:aa0dbd7ad7c415498ca3bc54b42885704"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_pid_controller.html#aa0dbd7ad7c415498ca3bc54b42885704">setKPID</a> (double p, double i, double d)</td></tr>
    83. 

  83. <tr class="memdesc:aa0dbd7ad7c415498ca3bc54b42885704"><td class="mdescLeft">&#160;</td><td class="mdescRight">PIDパラメータを設定する  <a href="#aa0dbd7ad7c415498ca3bc54b42885704">[詳解]</a><br /></td></tr>
    84. 

  84. <tr class="separator:aa0dbd7ad7c415498ca3bc54b42885704"><td class="memSeparator" colspan="2">&#160;</td></tr>
    85. 

  85. <tr class="memitem:ad3e5bd7d66b2fbeb879de3ee44b209ff"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_pid_controller.html#ad3e5bd7d66b2fbeb879de3ee44b209ff">calc_pid_value</a> (double diff)</td></tr>
    86. 

  86. <tr class="memdesc:ad3e5bd7d66b2fbeb879de3ee44b209ff"><td class="mdescLeft">&#160;</td><td class="mdescRight">PID制御のための計算を行う  <a href="#ad3e5bd7d66b2fbeb879de3ee44b209ff">[詳解]</a><br /></td></tr>
    87. 

  87. <tr class="separator:ad3e5bd7d66b2fbeb879de3ee44b209ff"><td class="memSeparator" colspan="2">&#160;</td></tr>
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  88. </table>
    89. 

  89. <a name="details" id="details"></a><h2 class="groupheader">詳解</h2>
    90. 

  90. <div class="textblock"><p>PID制御用の計算を行うクラス </p>
    91. 

  91. </div><h2 class="groupheader">構築子と解体子</h2>
    92. 

  92. <a id="aeb65202ca21b9f805ccbe85de409a6b7"></a>
    93. 

  93. <h2 class="memtitle"><span class="permalink"><a href="#aeb65202ca21b9f805ccbe85de409a6b7">&#9670;&nbsp;</a></span>PidController()</h2>
    94. 

  94. 

  95. <div class="memitem">
    96. 

  96. <div class="memproto">
    97. 

  97.       <table class="memname">
    98. 

  98.         <tr>
    99. 

  99.           <td class="memname">PidController::PidController </td>
    100. 

  100.           <td>(</td>
    101. 

  101.           <td class="paramname"></td><td>)</td>
    102. 

  102.           <td></td>
    103. 

  103.         </tr>
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  104.       </table>
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  105. </div><div class="memdoc">
    106. 

  106. <p>コンストラクタ </p>
    107. 

  107. <div class="dynheader">
    108. 

  108. 呼び出し関係図:</div>
    109. 

  109. <div class="dyncontent">
    110. 

  110. <div class="center"><img src="class_pid_controller_aeb65202ca21b9f805ccbe85de409a6b7_cgraph.png" border="0" usemap="#class_pid_controller_aeb65202ca21b9f805ccbe85de409a6b7_cgraph" alt=""/></div>
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  111. <map name="class_pid_controller_aeb65202ca21b9f805ccbe85de409a6b7_cgraph" id="class_pid_controller_aeb65202ca21b9f805ccbe85de409a6b7_cgraph">
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  113. </map>
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  114. </div>
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  115. 

  116. </div>
    117. 

  117. </div>
    118. 

  118. <a id="aba29855291c608470b0c00ad75cfd3dc"></a>
    119. 

  119. <h2 class="memtitle"><span class="permalink"><a href="#aba29855291c608470b0c00ad75cfd3dc">&#9670;&nbsp;</a></span>~PidController()</h2>
    120. 

  120. 

  121. <div class="memitem">
    122. 

  122. <div class="memproto">
    123. 

  123. <table class="mlabels">
    124. 

  124.   <tr>
    125. 

  125.   <td class="mlabels-left">
    126. 

  126.       <table class="memname">
    127. 

  127.         <tr>
    128. 

  128.           <td class="memname">PidController::~PidController </td>
    129. 

  129.           <td>(</td>
    130. 

  130.           <td class="paramname"></td><td>)</td>
    131. 

  131.           <td></td>
    132. 

  132.         </tr>
    133. 

  133.       </table>
    134. 

  134.   </td>
    135. 

  135.   <td class="mlabels-right">
    136. 

  136. <span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
    137. 

  137.   </tr>
    138. 

  138. </table>
    139. 

  139. </div><div class="memdoc">
    140. 

  140. <p>デストラクタ </p>
    141. 

  141. 

  142. </div>
    143. 

  143. </div>
    144. 

  144. <h2 class="groupheader">関数詳解</h2>
    145. 

  145. <a id="ad3e5bd7d66b2fbeb879de3ee44b209ff"></a>
    146. 

  146. <h2 class="memtitle"><span class="permalink"><a href="#ad3e5bd7d66b2fbeb879de3ee44b209ff">&#9670;&nbsp;</a></span>calc_pid_value()</h2>
    147. 

  147. 

  148. <div class="memitem">
    149. 

  149. <div class="memproto">
    150. 

  150.       <table class="memname">
    151. 

  151.         <tr>
    152. 

  152.           <td class="memname">double PidController::calc_pid_value </td>
    153. 

  153.           <td>(</td>
    154. 

  154.           <td class="paramtype">double&#160;</td>
    155. 

  155.           <td class="paramname"><em>diff</em></td><td>)</td>
    156. 

  156.           <td></td>
    157. 

  157.         </tr>
    158. 

  158.       </table>
    159. 

  159. </div><div class="memdoc">
    160. 

  160. 

  161. <p>PID制御のための計算を行う </p>
    162. 

  162. <dl class="params"><dt>引数</dt><dd>
    163. 

  163.   <table class="params">
    164. 

  164.     <tr><td class="paramdir">[in]</td><td class="paramname">diff</td><td>差分 </td></tr>
    165. 

  165.   </table>
    166. 

  166.   </dd>
    167. 

  167. </dl>
    168. 

  168. <dl class="section return"><dt>戻り値</dt><dd>PID制御値 </dd></dl>
    169. 

  169. <div class="dynheader">
    170. 

  170. 被呼び出し関係図:</div>
    171. 

  171. <div class="dyncontent">
    172. 

  172. <div class="center"><img src="class_pid_controller_ad3e5bd7d66b2fbeb879de3ee44b209ff_icgraph.png" border="0" usemap="#class_pid_controller_ad3e5bd7d66b2fbeb879de3ee44b209ff_icgraph" alt=""/></div>
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  181. </div>
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  182. </div>
    183. 

  183. <a id="a2bb9c2e11209403beb78c81e282a5553"></a>
    184. 

  184. <h2 class="memtitle"><span class="permalink"><a href="#a2bb9c2e11209403beb78c81e282a5553">&#9670;&nbsp;</a></span>init()</h2>
    185. 

  185. 

  186. <div class="memitem">
    187. 

  187. <div class="memproto">
    188. 

  188.       <table class="memname">
    189. 

  189.         <tr>
    190. 

  190.           <td class="memname">void PidController::init </td>
    191. 

  191.           <td>(</td>
    192. 

  192.           <td class="paramname"></td><td>)</td>
    193. 

  193.           <td></td>
    194. 

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  195.       </table>
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  196. </div><div class="memdoc">
    197. 

  197. <div class="dynheader">
    198. 

  198. 被呼び出し関係図:</div>
    199. 

  199. <div class="dyncontent">
    200. 

  200. <div class="center"><img src="class_pid_controller_a2bb9c2e11209403beb78c81e282a5553_icgraph.png" border="0" usemap="#class_pid_controller_a2bb9c2e11209403beb78c81e282a5553_icgraph" alt=""/></div>
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  204. </map>
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  205. </div>
    206. 

  206. 

  207. </div>
    208. 

  208. </div>
    209. 

  209. <a id="aa0dbd7ad7c415498ca3bc54b42885704"></a>
    210. 

  210. <h2 class="memtitle"><span class="permalink"><a href="#aa0dbd7ad7c415498ca3bc54b42885704">&#9670;&nbsp;</a></span>setKPID()</h2>
    211. 

  211. 

  212. <div class="memitem">
    213. 

  213. <div class="memproto">
    214. 

  214.       <table class="memname">
    215. 

  215.         <tr>
    216. 

  216.           <td class="memname">void PidController::setKPID </td>
    217. 

  217.           <td>(</td>
    218. 

  218.           <td class="paramtype">double&#160;</td>
    219. 

  219.           <td class="paramname"><em>p</em>, </td>
    220. 

  220.         </tr>
    221. 

  221.         <tr>
    222. 

  222.           <td class="paramkey"></td>
    223. 

  223.           <td></td>
    224. 

  224.           <td class="paramtype">double&#160;</td>
    225. 

  225.           <td class="paramname"><em>i</em>, </td>
    226. 

  226.         </tr>
    227. 

  227.         <tr>
    228. 

  228.           <td class="paramkey"></td>
    229. 

  229.           <td></td>
    230. 

  230.           <td class="paramtype">double&#160;</td>
    231. 

  231.           <td class="paramname"><em>d</em>&#160;</td>
    232. 

  232.         </tr>
    233. 

  233.         <tr>
    234. 

  234.           <td></td>
    235. 

  235.           <td>)</td>
    236. 

  236.           <td></td><td></td>
    237. 

  237.         </tr>
    238. 

  238.       </table>
    239. 

  239. </div><div class="memdoc">
    240. 

  240. 

  241. <p>PIDパラメータを設定する </p>
    242. 

  242. <dl class="params"><dt>引数</dt><dd>
    243. 

  243.   <table class="params">
    244. 

  244.     <tr><td class="paramdir">[in]</td><td class="paramname">p</td><td>Kp値 </td></tr>
    245. 

  245.     <tr><td class="paramdir">[in]</td><td class="paramname">i</td><td>Ki値 </td></tr>
    246. 

  246.     <tr><td class="paramdir">[in]</td><td class="paramname">d</td><td>Kd値 </td></tr>
    247. 

  247.   </table>
    248. 

  248.   </dd>
    249. 

  249. </dl>
    250. 

  250. <div class="dynheader">
    251. 

  251. 被呼び出し関係図:</div>
    252. 

  252. <div class="dyncontent">
    253. 

  253. <div class="center"><img src="class_pid_controller_aa0dbd7ad7c415498ca3bc54b42885704_icgraph.png" border="0" usemap="#class_pid_controller_aa0dbd7ad7c415498ca3bc54b42885704_icgraph" alt=""/></div>
    254. 

  254. <map name="class_pid_controller_aa0dbd7ad7c415498ca3bc54b42885704_icgraph" id="class_pid_controller_aa0dbd7ad7c415498ca3bc54b42885704_icgraph">
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  259. </map>
    260. 

  260. </div>
    261. 

  261. 

  262. </div>
    263. 

  263. </div>
    264. 

  264. <hr/>このクラス詳解は次のファイルから抽出されました:<ul>
    265. 

  265. <li>unit/<a class="el" href="_pid_controller_8h_source.html">PidController.h</a></li>
    266. 

  266. <li>unit/<a class="el" href="_pid_controller_8cpp.html">PidController.cpp</a></li>
    267. 

  267. </ul>
    268. 

  268. </div><!-- contents -->
    269. 

  269. </div><!-- doc-content -->
    270. 

  270. <!-- start footer part -->
    271. 

  271. <div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
    272. 

  272.   <ul>
    273. 

  273.     <li class="navelem"><a class="el" href="class_pid_controller.html">PidController</a></li>
    274. 

  274.     <li class="footer">構築:
    275. 

  275.     <a href="http://www.doxygen.org/index.html">
    276. 

  276.     <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.13 </li>
    277. 

  277.   </ul>
    278. 

  278. </div>
    279. 

  279. </body>
    280. 

  280. </html>
    281. 

  281.