| 123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657 | /* * * Copyright 2016, Google Inc. * All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions are * met: * *     * Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. *     * Redistributions in binary form must reproduce the above * copyright notice, this list of conditions and the following disclaimer * in the documentation and/or other materials provided with the * distribution. *     * Neither the name of Google Inc. nor the names of its * contributors may be used to endorse or promote products derived from * this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * */#include "src/core/lib/transport/pid_controller.h"void grpc_pid_controller_init(grpc_pid_controller *pid_controller,                              double gain_p, double gain_i, double gain_d) {  pid_controller->gain_p = gain_p;  pid_controller->gain_i = gain_i;  pid_controller->gain_d = gain_d;  grpc_pid_controller_reset(pid_controller);}void grpc_pid_controller_reset(grpc_pid_controller *pid_controller) {  pid_controller->last_error = 0.0;  pid_controller->error_integral = 0.0;}double grpc_pid_controller_update(grpc_pid_controller *pid_controller,                                  double error, double dt) {  pid_controller->error_integral += error * dt;  double diff_error = (error - pid_controller->last_error) / dt;  pid_controller->last_error = error;  return dt * (pid_controller->gain_p * error +               pid_controller->gain_i * pid_controller->error_integral +               pid_controller->gain_d * diff_error);}
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