48 lines
1.8 KiB
C++
48 lines
1.8 KiB
C++
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/*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*/
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#pragma once
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#include "okapi/api/control/util/pidTuner.hpp"
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#include <memory>
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namespace okapi {
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class PIDTunerFactory {
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public:
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static PIDTuner create(const std::shared_ptr<ControllerInput<double>> &iinput,
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const std::shared_ptr<ControllerOutput<double>> &ioutput,
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QTime itimeout,
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std::int32_t igoal,
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double ikPMin,
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double ikPMax,
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double ikIMin,
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double ikIMax,
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double ikDMin,
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double ikDMax,
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std::int32_t inumIterations = 5,
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std::int32_t inumParticles = 16,
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double ikSettle = 1,
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double ikITAE = 2,
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const std::shared_ptr<Logger> &ilogger = Logger::getDefaultLogger());
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static std::unique_ptr<PIDTuner>
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createPtr(const std::shared_ptr<ControllerInput<double>> &iinput,
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const std::shared_ptr<ControllerOutput<double>> &ioutput,
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QTime itimeout,
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std::int32_t igoal,
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double ikPMin,
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double ikPMax,
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double ikIMin,
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double ikIMax,
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double ikDMin,
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double ikDMax,
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std::int32_t inumIterations = 5,
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std::int32_t inumParticles = 16,
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double ikSettle = 1,
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double ikITAE = 2,
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const std::shared_ptr<Logger> &ilogger = Logger::getDefaultLogger());
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};
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} // namespace okapi
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