.. _program_listing_file_src_tap_algorithms_fuzzy_pd.hpp:

Program Listing for File fuzzy_pd.hpp
=====================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_tap_algorithms_fuzzy_pd.hpp>` (``src/tap/algorithms/fuzzy_pd.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright (c) 2022 Advanced Robotics at the University of Washington <robomstr@uw.edu>
    *
    * This file is part of Taproot.
    *
    * Taproot is free software: you can redistribute it and/or modify
    * it under the terms of the GNU General Public License as published by
    * the Free Software Foundation, either version 3 of the License, or
    * (at your option) any later version.
    *
    * Taproot is distributed in the hope that it will be useful,
    * but WITHOUT ANY WARRANTY; without even the implied warranty of
    * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    * GNU General Public License for more details.
    *
    * You should have received a copy of the GNU General Public License
    * along with Taproot.  If not, see <https://www.gnu.org/licenses/>.
    */
   
   #ifndef TAPROOT_FUZZY_PD_HPP_
   #define TAPROOT_FUZZY_PD_HPP_
   
   #include <cstdint>
   
   #include "tap/algorithms/extended_kalman.hpp"
   
   #include "fuzzy_pd_rule_table.hpp"
   #include "smooth_pid.hpp"
   
   namespace tap::algorithms
   {
   struct FuzzyPDConfig
   {
       float maxError = 0.0f;
       float maxErrorDerivative = 0.0f;
       FuzzyPDRuleTable fuzzyTable;
   };
   
   class FuzzyPD : public SmoothPid
   {
   public:
       FuzzyPD(const FuzzyPDConfig &pdConfig, const SmoothPidConfig &smoothPidConfig);
   
       float runController(float error, float errorDerivative, float dt) override;
   
   private:
       FuzzyPDConfig config;
   
       void udpatePidGains(float error, float errorDerivative);
   };
   
   }  // namespace tap::algorithms
   
   #endif  // TAPROOT_FUZZY_PD_HPP_