| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /** | ||
| 2 | * @file demo_pid.cpp | ||
| 3 | * @author Vincent Berenz | ||
| 4 | * license License BSD-3-Clause | ||
| 5 | * @copyright Copyright (c) 2019, New York University and Max Planck | ||
| 6 | * Gesellschaft. | ||
| 7 | * @date 2019-05-22 | ||
| 8 | * | ||
| 9 | * @brief Example of a simple demo suitable for continuous integration. | ||
| 10 | * @see | ||
| 11 | * https://git-amd.tuebingen.mpg.de/amd-clmc/package_template/wikis/catkin:-how-to-implement-a-demo | ||
| 12 | * | ||
| 13 | * @example demo_pid.cpp | ||
| 14 | * Create the default PID controller and compute the control once. This | ||
| 15 | * illustrates in the simplest way the use of the PID class API. | ||
| 16 | */ | ||
| 17 | |||
| 18 | #include "package_template/pid.hpp" | ||
| 19 | |||
| 20 | /** | ||
| 21 | * @brief Creates a PID controller and use the API in a small demo. | ||
| 22 | */ | ||
| 23 | ✗ | void run_demo() | |
| 24 | { | ||
| 25 | // PID controller with default gains values | ||
| 26 | ✗ | package_template::PID& controller = package_template::get_default_pid(); | |
| 27 | |||
| 28 | // example of force computation | ||
| 29 | ✗ | double current_position = 1; | |
| 30 | ✗ | double current_velocity = 1; | |
| 31 | ✗ | double delta_time = 0.01; | |
| 32 | ✗ | double target_position = 2; | |
| 33 | ✗ | double force = controller.compute( | |
| 34 | current_position, current_velocity, target_position, delta_time); | ||
| 35 | ✗ | std::cout << "computed force: " << force << std::endl; | |
| 36 | |||
| 37 | // resetting integral of the controller | ||
| 38 | // (useless here because we do not reuse it) | ||
| 39 | ✗ | controller.reset_integral(); | |
| 40 | } | ||
| 41 | |||
| 42 | /** | ||
| 43 | * @brief Execute the run_demo() trhough a try/catch expression. | ||
| 44 | * | ||
| 45 | * @return int | ||
| 46 | */ | ||
| 47 | ✗ | int main() | |
| 48 | { | ||
| 49 | try | ||
| 50 | { | ||
| 51 | ✗ | run_demo(); | |
| 52 | } | ||
| 53 | ✗ | catch (const std::exception& e) | |
| 54 | { | ||
| 55 | ✗ | std::cout << "demo failed !\nerror message:\n" << e.what() << std::endl; | |
| 56 | ✗ | return 1; // informs continuous integration that this demo did not run | |
| 57 | // successfully | ||
| 58 | } | ||
| 59 | |||
| 60 | ✗ | return 0; // informs continuous integration that this demo did run | |
| 61 | // successfully | ||
| 62 | } | ||
| 63 |