| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /** | ||
| 2 | * @file default_configuration.hpp | ||
| 3 | * @author Vincent Berenz | ||
| 4 | * @copyright Copyright (c) 2019, New York University and Max Planck | ||
| 5 | * Gesellschaft, License BSD-3-Clause | ||
| 6 | * @date 2019-12-09 | ||
| 7 | */ | ||
| 8 | |||
| 9 | #pragma once | ||
| 10 | |||
| 11 | #include "package_template/gains_configuration.hpp" | ||
| 12 | |||
| 13 | #define DEFAULT_KP 1.0 | ||
| 14 | #define DEFAULT_KD 1.0 | ||
| 15 | #define DEFAULT_KI 1.0 | ||
| 16 | |||
| 17 | namespace package_template | ||
| 18 | { | ||
| 19 | /** @brief Default configuration for the kp, kd, ki paramters. | ||
| 20 | * | ||
| 21 | * This class initialize the PID gains as follow: | ||
| 22 | * - kp = DEFAULT_KP, | ||
| 23 | * - kd = DEFAULT_KD | ||
| 24 | * - ki = DEFAULT_KI | ||
| 25 | */ | ||
| 26 | class DefaultConfiguration : public Gains_configuration | ||
| 27 | { | ||
| 28 | public: | ||
| 29 | /** @brief Here we use the default destructor. */ | ||
| 30 | 4 | ~DefaultConfiguration() | |
| 31 | { | ||
| 32 | } | ||
| 33 | |||
| 34 | /** | ||
| 35 | * @brief Always returns DEFAULT_KP. | ||
| 36 | * | ||
| 37 | * @return double DEFAULT_KP | ||
| 38 | */ | ||
| 39 | double get_kp() const; | ||
| 40 | |||
| 41 | /** | ||
| 42 | * @brief Always returns DEFAULT_KD. | ||
| 43 | * | ||
| 44 | * @return double DEFAULT_KD | ||
| 45 | */ | ||
| 46 | double get_kd() const; | ||
| 47 | |||
| 48 | /** | ||
| 49 | * @brief Always returns DEFAULT_KI. | ||
| 50 | * | ||
| 51 | * @return double DEFAULT_KI | ||
| 52 | */ | ||
| 53 | double get_ki() const; | ||
| 54 | |||
| 55 | /** | ||
| 56 | * @brief Always returns false. | ||
| 57 | * | ||
| 58 | * @return true Never | ||
| 59 | * @return false Always | ||
| 60 | */ | ||
| 61 | bool has_error() const; | ||
| 62 | |||
| 63 | /** | ||
| 64 | * @brief Always returns "no error". | ||
| 65 | * | ||
| 66 | * @return std::string "no error" | ||
| 67 | */ | ||
| 68 | std::string get_error() const; | ||
| 69 | }; | ||
| 70 | |||
| 71 | } // namespace package_template | ||
| 72 |