学校网站建设及使用档案,宁波发布最新通报,网站建设 公司 常州,网站建设接单写在前面
最近项目一直用matlab#xff0c;防止手生整一个回忆工具使用的简单的pid demo#xff0c;走一边流程#xff0c;包括配工程debug看结果#xff0c;复用之前记录的配置见我的bloghttps://blog.csdn.net/weixin_46479223/article/details/135082867?csdn_share_t…写在前面
最近项目一直用matlab防止手生整一个回忆工具使用的简单的pid demo走一边流程包括配工程debug看结果复用之前记录的配置见我的bloghttps://blog.csdn.net/weixin_46479223/article/details/135082867?csdn_share_tail%7B%22type%22%3A%22blog%22%2C%22rType%22%3A%22article%22%2C%22rId%22%3A%22135082867%22%2C%22source%22%3A%22weixin_46479223%22%7D。visual studio在这方面感觉比vscode 方便不少
使用说明不基于内容是什么主要是配置好基本内容可以快速编译打印验证或者配置visualstudio单个文件的话可以使用在线ide页面https://godbolt.org/
结构 cmakelist
cmake_minimum_required(VERSION 3.14.1)
project(project_PIDControllerDemo)
set( CMAKE_CXX_STANDARD 11 )
set( CMAKE_CXX_STANDARD_REQUIRED ON )
set( THREADS_PREFER_PTHREAD_FLAG ON )function(include_sub_directories_recursively root_dir)if (IS_DIRECTORY ${root_dir})include_directories(${root_dir})file(GLOB children RELATIVE ${root_dir} ${root_dir}/*)foreach(child ${children})if (IS_DIRECTORY ${root_dir}/${child})include_sub_directories_recursively(${root_dir}/${child})endif()endforeach()endif()
endfunction()function(aux_source_directory_recursively root_dir var_name)if(IS_DIRECTORY ${root_dir})aux_source_directory(${root_dir} TMP_SRC_LIST)set(${var_name} ${${var_name}} ${TMP_SRC_LIST} PARENT_SCOPE)file(GLOB children RELATIVE ${root_dir} ${root_dir}/*)foreach(child ${children})if(IS_DIRECTORY ${root_dir}/${child})aux_source_directory_recursively(${root_dir}/${child} ${var_name}) endif()endforeach()endif()
endfunction()find_package(glog REQUIRED)
find_package(Eigen3 REQUIRED)
#find_package(osqp REQUIRED )
find_package(OsqpEigen REQUIRED)
find_package(yaml-cpp REQUIRED)Set(GLOG_INCLUDE_DIRS /usr/include/glog/)
Set(GLOG_LIBRARIES /usr/lib/x86_64-linux-gnu/libglog.so)
#Set(GLOG_LIBRARIES /usr/local/lib/libglog.so)# message(STATUS GLOG_INCLUDE_DIRS: ${GLOG_INCLUDE_DIR})
# message(STATUS GLOG_LIBRARIES: ${GLOG_LIBRARIES})
# message(STATUS EIGEN3_INCLUDE_DIR: ${EIGEN3_INCLUDE_DIR})
# message(STATUS EIGEN3_LIBRARIES: ${EIGEN3_LIBRARIES})
# message(STATUS osqp_INCLUDE_DIR: ${osqp_INCLUDE_DIR})
# message(STATUS osqp_LIBRARIES: ${osqp_LIBRARIES})set(CMAKE_BUILD_TYPE Debug)
set(CMAKE_INCLUDE_CURRENT_DIR ON)# aux_source_directory(${CMAKE_CURRENT_SOURCE_DIR} SRC_LIST)aux_source_directory(${CMAKE_CURRENT_SOURCE_DIR}/src/. SRC_LIST)aux_source_directory(${CMAKE_CURRENT_SOURCE_DIR}/commen/. SRC_LIST)#aux_source_directory_recursively(${CMAKE_CURRENT_SOURCE_DIR}/src SRC_LIST)
include_sub_directories_recursively(${CMAKE_CURRENT_SOURCE_DIR}/include)
include_sub_directories_recursively(${CMAKE_CURRENT_SOURCE_DIR}/libs)
include_sub_directories_recursively(${CMAKE_CURRENT_SOURCE_DIR}/src)
include_sub_directories_recursively(${CMAKE_CURRENT_SOURCE_DIR}/inc)##############################debug start##############################
get_property(include_dirs DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} PROPERTY INCLUDE_DIRECTORIES)foreach(dir ${include_dirs})message(Include directory: ${dir})
endforeach()message(Source files:)
foreach(file IN LISTS SRC_LIST)message( ${file})
endforeach()
#################################debug end####################################include_directories(${GLOG_INCLUDE_DIRS})
include_directories(${EIGEN3_INCLUDE_DIR})add_executable(${PROJECT_NAME} ${SRC_LIST})
#add_library(${PROJECT_NAME} STATIC ${SRC_LIST}) # temp use
target_include_directories(${PROJECT_NAME} PRIVATE ${GLOG_INCLUDE_DIRS})
#target_include_directories(${PROJECT_NAME} PRIVATE ${OSQP_INCLUDE_DIRS})
#target_link_libraries(${PROJECT_NAME} OsqpEigen::OsqpEigen)
target_link_libraries(${PROJECT_NAME} PRIVATE ${GLOG_LIBRARIES})
target_link_libraries(${PROJECT_NAME} PRIVATE ${EIGEN3_LIBRARIES})
target_link_libraries(${PROJECT_NAME} PRIVATE yaml-cpp)# link_directories(${CMAKE_CURRENT_SOURCE_DIR}/libs/yaml-cpp/)# for all
# target_link_libraries(${PROJECT_NAME} PRIVATE libyaml-cpp.a)
#target_link_libraries(${PROJECT_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/libs/yaml-cD/libyaml-cD.a)
#target_link_libraries(${PROJECT_NAME} PRIVATE osqp::osqp)
#####################################unit test ###################################
# add_executable(unit_test_pathFW ${SRC_LIST})
# target_link_libraries( unit_test_pathFW
# ${GLOG_LIBRARIES}
# # ${CMAKE_CURRENT_SOURCE_DIR}/libs/yaml-cD/libyaml-cD.a
# ${CMAKE_CURRENT_SOURCE_DIR}/libs/yaml-cD/libyaml-cD.a
# # yaml-cD
# )
#####################################unit test end#################################c_cpp_properties.json
{configurations: [{name: Linux,includePath: [${workspaceFolder}/**,${workspaceFolder}/inc,/usr/include/**],defines: [],compilerPath: /usr/bin/gcc,cStandard: c17,cppStandard: gnu14,intelliSenseMode: linux-gcc-x64}],version: 4
}launch.json
{// 使用 IntelliSense 了解相关属性。 // 悬停以查看现有属性的描述。// 欲了解更多信息请访问: https://go.microsoft.com/fwlink/?linkid830387version: 0.2.0,configurations: [{name: (gdb) 启动,type: cppdbg,request: launch,program: ${workspaceFolder}/build/project_PIDControllerDemo,args: [],stopAtEntry: false,cwd: ${fileDirname},environment: [],externalConsole: false,MIMode: gdb,setupCommands: [{description: 为 gdb 启用整齐打印,text: -enable-pretty-printing,ignoreFailures: true},{description: 将反汇编风格设置为 Intel,text: -gdb-set disassembly-flavor intel,ignoreFailures: true}]}]
}
pid.h # ifndef _PID_H_
# define _PID_H_#include cmath
#include algorithm# define RUNCYCLE 0.02class PID{public:PID(): ki_(0), kp_(0), kd_(0){}PID(const float KI,const float KP,const float KD): ki_( KI), kp_( KP)
, kd_(KD){}PID(const PID pid)delete;~PID(){}void updatePos();void calError(const float targetPos);float getRes();private:float ki_ ;float kp_;float kd_;float error_ {0.f};float pos_ {0.f}; float res_ {0.f};
};# endifpid.cc
#include pid.husing namespace std;void PID:: calError( const float targetPos ){float error_i0.f,error_d0.f,error_p0.f; static float error_last0;error_ptargetPos-pos_;error_iRUNCYCLE*error_p;error_d(error_p-error_last)/RUNCYCLE;if (error_p*error_p0){error_i0;}error_imin(error_i,3.f);error_imax(error_i,-3.f);error_lasterror_p;res_ ki_*error_ikp_*error_pkd_*error_d;}void PID:: updatePos(){pos_res_*RUNCYCLE;}float PID:: getRes(){return pos_;}main.cc
# include pid.h
#include glog/logging.hint main(int argc, char* argv[]){google::InitGoogleLogging(argv[0]);google::SetStderrLogging(google::GLOG_ERROR); FLAGS_colorlogtostderr true;FLAGS_logtostderr true; FLAGS_minloglevel 0; PID pidUser (0.3f,1.f,0.5f); // user defined parametersint Target10; // user definedint count0; // counter LOG(INFO) Hello,myPID;while (fabs(Target-pidUser.getRes())0.1count1000){pidUser.calError(Target);pidUser.updatePos();count;LOG(INFO) Target: Target Current pos: pidUser.getRes();}LOG(INFO) End at count Times; google::ShutdownGoogleLogging();
}结果 用重定向 放入excel中画图展示如下
