File file_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
File_configuration
: public package_template::Gains_configuration - #include <file_configuration.hpp>
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
Private Members
-
double
kp_
Proportinal gain.
-
double
kd_
Derivative gain.
-
double
ki_
Integral gain.
-
std::string
error_message_
Internal error message.
-
bool
error_
True if an error occured.
-
-
class