File default_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
-
class
DefaultConfiguration
: public package_template::Gains_configuration - #include <default_configuration.hpp>
Default configuration for the kp, kd, ki paramters.
This class initialize the PID gains as follow:
kp = DEFAULT_KP,
kd = DEFAULT_KD
ki = DEFAULT_KI
Public Functions
-
~DefaultConfiguration
() Here we use the default destructor.
-
double
get_kp
() const Always returns DEFAULT_KP.
- Return
double DEFAULT_KP
-
double
get_kd
() const Always returns DEFAULT_KD.
- Return
double DEFAULT_KD
-
double
get_ki
() const Always returns DEFAULT_KI.
- Return
double DEFAULT_KI
-
bool
has_error
() const Always returns false.
- Return
true Never
- Return
false Always
-
std::string
get_error
() const Always returns “no error”.
- Return
std::string “no error”
-
class