Class package_template::Gains_configuration¶
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class
package_template
::
Gains_configuration
¶ Abstract class defining for the PID configuration.
This virtual object describes the configuration a PID objects is waiting for. Daughter class will for example be initialize through files, ROS params, etc.
Subclassed by package_template::DefaultConfiguration, package_template::File_configuration, package_template::RosParameters_configuration
Public Functions
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~Gains_configuration
()¶ The default destructor do nothing.
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double
get_kp
() const = 0¶ Get the proportional gain.
- Return
double
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double
get_kd
() const = 0¶ Get the derivative gain.
- Return
double
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double
get_ki
() const = 0¶ Get the integral gain.
- Return
double
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bool
has_error
() const = 0¶ Enquire if an error was encountered while reading the configuration.
- See
- Return
true if an error has been encountered
- Return
false otherwise
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std::string
get_error
() const = 0¶ returns error encountered when reading configuration
- See
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