Class package_template::Gains_configuration

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

~Gains_configuration()

The default destructor do nothing.

double get_kp() const = 0

Get the proportional gain.

Return

double

double get_kd() const = 0

Get the derivative gain.

Return

double

double get_ki() const = 0

Get the integral gain.

Return

double

bool has_error() const = 0

Enquire if an error was encountered while reading the configuration.

See

get_error()

Return

true if an error has been encountered

Return

false otherwise

std::string get_error() const = 0

returns error encountered when reading configuration

See

has_error()