File gains_configuration.hpp¶
- Author
Vincent Berenz
- Copyright
Copyright (c) 2019, New York University and Max Planck Gesellschaft, License BSD-3-Clause
- Date
2019-12-09
-
namespace
package_template
Functions
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void
print_configuration
(const Gains_configuration &configuration)¶ print values encapsulated by the provided configuration console on the standard output
-
class
Gains_configuration
- #include <gains_configuration.hpp>
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
-
-
void