Control Toolbox

ctrl_toolbox is a C++17 library collecting reusable control-oriented building blocks under the ctb namespace.

What is included

1. ctb::DigitalPID 1-D digital PID controller with anti-windup and configurable error function.
2. ctb::VirtualFrame Virtual-frame based smoothing for Cartesian pose/velocity references.
3. ctb::ExtendedKalmanFilter EKF framework with pluggable model and measurement components.
4. Utility helpers Angle wrapping, geodesy conversions (LatLong/local frames), and configuration helpers.

Requirements

• CMake >= 3.2
• C++17 compiler
• GeographicLib
• libconfig++
• rml (Robotic Mathematical Library): https://github.com/GRAAL-Lab/rml.git

On Debian/Ubuntu, install system dependencies with:

sudo apt-get update
sudo apt-get install -y cmake g++ libgeographiclib-dev libconfig++-dev

rml must be installed separately and discoverable by your compiler/linker.

Build

From the project root:

cmake -S . -B build -DCMAKE_BUILD_TYPE=RelWithDebInfo
cmake --build build -j

To also compile the test executable:

cmake -S . -B build -DCMAKE_BUILD_TYPE=RelWithDebInfo -DBUILD_TESTS=ON
cmake --build build -j

Install

cmake --install build

The project exports a CMake package configuration (ctrl_toolboxConfig.cmake) under:

• share/ctrl_toolbox/cmake

Use from another CMake project

find_package(ctrl_toolbox REQUIRED)

add_executable(my_controller main.cpp)
target_link_libraries(my_controller PRIVATE ctrl_toolbox)

Public headers

Use the umbrella include:

#include <ctrl_toolbox/ctrl_toolbox.hpp>

or include individual modules, for example:

• <ctrl_toolbox/pid/DigitalPID.h>
• <ctrl_toolbox/virtual_frame/VirtualFrame.h>
• <ctrl_toolbox/kalman_filter/ExtendedKalmanFilter.h>
• <ctrl_toolbox/HelperFunctions.h>

Minimal PID example

#include <ctrl_toolbox/pid/DigitalPID.h>

int main()
{
	 ctb::PIDGains gains;
	 gains.Kp = 2.0;
	 gains.Ki = 0.4;
	 gains.Kd = 0.05;
	 gains.Kff = 0.0;
	 gains.N = 10.0;
	 gains.Tr = 0.2;

	 ctb::DigitalPID pid(gains, 0.01, 5.0);

	 const double reference = 1.0;
	 const double feedback = 0.8;
	 const double command = pid.Compute(reference, feedback);

	 (void)command;
	 return 0;
}

Notes

• The library target is currently built as a shared library.
• Most APIs are defined in namespace ctb.
• The current repository includes a sample test executable in test/ctrl_toolbox_test.cc.

License

This project is released under the MIT License. See LICENSE.md.

Maintainer

Maintained by GRAAL Laboratory, University of Genoa (Italy).