File rosparameters_configuration.hpp¶
- Author
Vincent Berenz
- Copyright
Copyright (c) 2019, New York University and Max Planck Gesellschaft, License BSD-3-Clause
- Date
2019-12-09
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namespace
package_template
-
class
RosParameters_configuration
: public package_template::Gains_configuration - #include <rosparameters_configuration.hpp>
Read gains configuration from the ros parameter server.
Public Functions
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RosParameters_configuration
() Attempt to get the gains from the parameter server (“gains_kp”,”gains_kd”,”gains_ki” parameters) If roscore is running, calls to this constructor will be blocking until all the gains are read or roscore is turned off.
If roscore is turned off before gains are read, has_error() will return true
- See
-
double
get_kp
() const Get the proportinal gain.
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double
get_kd
() const Get the derivative gain.
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double
get_ki
() const get the integral gain
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bool
has_error
() const Check if there are internal errors
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std::string
get_error
() const Get the error messages
Private Members
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double
kp_
Proportinal gain.
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double
kd_
Derivative gain.
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double
ki_
Integral gain.
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std::string
error_message_
Internal error message.
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bool
error_
True is an error occured.
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class