【algorithm】一个简单的PID工程 base 用于手生时候快速复习用于设计模式 cpp语法八股快速复习校验-CSDN博客

本文链接：https://blog.csdn.net/weixin_46479223/article/details/135927462

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

在这里插入图片描述

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": "gnu++14",
            "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/?linkid=830387
    "version": "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 0.02



class 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}; 
};




# endif

pid.cc

#include "pid.h"

 
    
using namespace std;

void PID:: calError( const float & targetPos )
 {
    float error_i=0.f,error_d=0.f,error_p=0.f; 



    static float error_last=0;

    error_p=targetPos-pos_;
    error_i=RUNCYCLE*error_p;
    error_d=(error_p-error_last)/RUNCYCLE;

    if (error_p*error_p<0)
    {
        error_i=0;
    }

    error_i=min(error_i,3.f);
    error_i=max(error_i,-3.f);



    error_last=error_p;

    res_= ki_*error_i+kp_*error_p+kd_*error_d;
 }

 void PID:: updatePos()
 {

    pos_+=res_*RUNCYCLE;

 }

 float  PID:: getRes()
 {
   return pos_;
 }

main.cc

# include "pid.h"
#include <glog/logging.h>


int 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 parameters

    int Target=10; // user defined

    int count=0; // counter 
        LOG(INFO) << "Hello,myPID";
    while (fabs(Target-pidUser.getRes())>0.1&&count<1000)
    {
        pidUser.calError(Target);
        pidUser.updatePos();
        count++;

    LOG(INFO) << "Target: "<<Target<< "Current pos: "<< pidUser.getRes();
    }
    LOG(INFO) << "End at "<< count<< "Times"; 



	google::ShutdownGoogleLogging();
}

结果

在这里插入图片描述
用重定向放入excel中画图展示如下

如果练习使用的电脑只有gcc 没有cmake的话，临时练习方案

对于我的项目在项目主文件夹下
使用gcc ./src/main.cc ./src/pid.cc -I./inc -o Test

以下扩展来自于gpt：
Q：如果想使用eigen库和osqp库用cpp14标准编译模式为debug 编译结果为动态库或者静态库该怎么设置，比如在gcc ./src/main.cc ./src/pid.cc -I./inc -o Test 扩展该怎么做而不是使用cmakelist
A：如下

# 编译并生成可执行文件
gcc ./src/main.cc ./src/pid.cc -I./inc -o Test -std=c++14 -g -lYourOSQPLibrary -lYourEigenLibrary

# 或者编译并生成动态库
gcc -shared -fPIC ./src/main.cc ./src/pid.cc -I./inc -o libYourLibraryName.so -std=c++14 -g -lYourOSQPLibrary -lYourEigenLibrary

或者编译并生成静态库

gcc -c ./src/main.cc ./src/pid.cc -I./inc -o YourObjectFile.o -std=c++14 -g
ar rcs libYourLibraryName.a YourObjectFile.o

等效于cmakelist如下：

cmake_minimum_required(VERSION 3.10)

project(YourProjectName)

# 设置 C++ 标准
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)

# 查找 Eigen 库
find_package(Eigen3 REQUIRED)
include_directories(${EIGEN3_INCLUDE_DIR})

# 查找 OSQP 库
find_package(osqp REQUIRED)
include_directories(${OSQP_INCLUDE_DIRS})

# 设置编译模式为 Debug
set(CMAKE_BUILD_TYPE Debug)

# 生成动态库
add_library(YourLibraryName SHARED
    src/your_source_file1.cpp
    src/your_source_file2.cpp
    # 添加其他源文件
)

# 或者生成静态库
# add_library(YourLibraryName STATIC
#     src/your_source_file1.cpp
#     src/your_source_file2.cpp
#     # 添加其他源文件
# )

# 链接 OSQP 和其他可能的库，例如 Eigen
target_link_libraries(YourLibraryName ${OSQP_LIBRARIES} Eigen3::Eigen)

# 可执行文件示例
add_executable(YourExecutableName
    src/main.cpp
    # 添加其他源文件
)

# 链接生成的库
target_link_libraries(YourExecutableName YourLibraryName)