Class package_template::RosParameters_configuration¶
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class
package_template
::
RosParameters_configuration
: public package_template::Gains_configuration¶ 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
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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
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