Class package_template::File_configuration¶
-
class
package_template
::
File_configuration
: public package_template::Gains_configuration¶ Reading configuration from yaml file.
Public Functions
-
File_configuration
(std::string yaml_file)¶ Returns error encountered when reading configuration.
- See
- Parameters
yaml_file
: absolute path to configuration yaml file. The file is expected to have parameters “kp”, “kd” and “ki”
-
double
get_kp
() const¶ Get the proportional gain.
- Return
double
-
double
get_kd
() const¶ Get the derivative gain.
- Return
double
-
double
get_ki
() const¶ Get the integral gain.
- Return
double
-
bool
has_error
() const¶ Enquire if an error was encountered while reading the configuration.
- See
- Return
true if an error has been encountered
- Return
false otherwise
-
std::string
get_error
() const¶ returns error encountered when reading configuration
- See
-