R2PdController Struct Reference

Stateless proportional-derivative controller: a PID controller without integral term, stored as a plain value. More...

#include <rapier.h>

Data Fields
struct R2Vector	lin_kp
	Linear proportional gain per axis.
struct R2Vector	lin_kd
	Linear derivative gain per axis.
R2AngVector	ang_kp
	Angular proportional gain per axis.
R2AngVector	ang_kd
	Angular derivative gain per axis.
uint32_t	axes
	Controlled axes, a combination of R2_AXES_MASK_* bits.

Detailed Description

Stateless proportional-derivative controller: a PID controller without integral term, stored as a plain value.

Initialize with r2DefaultPdController.

Field Documentation

ang_kd

R2AngVector R2PdController::ang_kd

Angular derivative gain per axis.

ang_kp

R2AngVector R2PdController::ang_kp

Angular proportional gain per axis.

axes

uint32_t R2PdController::axes

Controlled axes, a combination of R2_AXES_MASK_* bits.

lin_kd

struct R2Vector R2PdController::lin_kd

Linear derivative gain per axis.

lin_kp

struct R2Vector R2PdController::lin_kp

Linear proportional gain per axis.

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The documentation for this struct was generated from the following file:

• rapier.h