Class package_template::RosParameters_configuration

class package_template::RosParameters_configuration : public package_template::Gains_configuration

Read gains configuration from the ros parameter server.

Public Functions

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

has_error()

double get_kp() const

Get the proportinal gain.

double get_kd() const

Get the derivative gain.

double get_ki() const

get the integral gain

bool has_error() const

Check if there are internal errors

std::string get_error() const

Get the error messages

Private Members

double kp_

Proportinal gain.

double kd_

Derivative gain.

double ki_

Integral gain.

std::string error_message_

Internal error message.

bool error_

True is an error occured.