| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /** | ||
| 2 | * @file demo_pid_load_from_file.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 demo that requires to read a config file. | ||
| 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_load_from_file.cpp | ||
| 14 | * Load the PID gains from a yaml file and create a PID controller from them. | ||
| 15 | * This illustrates how to safely use the API when yaml file parsing is wanted. | ||
| 16 | */ | ||
| 17 | |||
| 18 | #include <stdexcept> | ||
| 19 | #include "package_template/file_configuration.hpp" | ||
| 20 | #include "package_template/pid.hpp" | ||
| 21 | |||
| 22 | /** | ||
| 23 | * @brief Run some demo using a YAML file as configuration for the PID | ||
| 24 | * controller. | ||
| 25 | */ | ||
| 26 | ✗ | void run_demo() | |
| 27 | { | ||
| 28 | /* displaying what this demo is about */ | ||
| 29 | std::cout << "This demo shows how to create an executable run by the " | ||
| 30 | "continuous integration\n" | ||
| 31 | << "which depends on a configuration file. In the solution " | ||
| 32 | "showed here, the absolute path\n" | ||
| 33 | << "to the configuration file is set during pre-compilation. See " | ||
| 34 | "code in /demos/demo_pid_load_from_file.cpp\n" | ||
| 35 | ✗ | << "for details\n\n"; | |
| 36 | |||
| 37 | /* reading gains (kp,kd,ki) from yaml config */ | ||
| 38 | |||
| 39 | // (look at the CMakeLists.txt to see why TEST_PID_GAINS_YAML_FILE_PATH is | ||
| 40 | // replaced by correct abs path during compilation) | ||
| 41 | ✗ | std::string config_file_path = TEST_PID_GAINS_YAML_FILE_PATH; | |
| 42 | |||
| 43 | // Gains_configuration is the base class for all configuration, including | ||
| 44 | // the one read from yaml file, as done here. | ||
| 45 | package_template::File_configuration gains = | ||
| 46 | ✗ | package_template::File_configuration(config_file_path); | |
| 47 | |||
| 48 | // printing to standard output the gains | ||
| 49 | ✗ | std::cout << "gains read from configuration file:" << std::endl; | |
| 50 | ✗ | package_template::print_configuration(gains); | |
| 51 | |||
| 52 | // checking reading the config file when fine | ||
| 53 | // if not, throwing corresponding error | ||
| 54 | ✗ | if (gains.has_error()) | |
| 55 | { | ||
| 56 | ✗ | throw std::runtime_error(gains.get_error()); | |
| 57 | } | ||
| 58 | |||
| 59 | /* creating and running the controller */ | ||
| 60 | |||
| 61 | // PID controller creation | ||
| 62 | ✗ | package_template::PID controller(gains); | |
| 63 | |||
| 64 | // example of force computation | ||
| 65 | ✗ | double current_position = 1; | |
| 66 | ✗ | double current_velocity = 1; | |
| 67 | ✗ | double delta_time = 0.01; | |
| 68 | ✗ | double target_position = 2; | |
| 69 | ✗ | double force = controller.compute( | |
| 70 | current_position, current_velocity, target_position, delta_time); | ||
| 71 | ✗ | std::cout << "computed force: " << force << std::endl; | |
| 72 | |||
| 73 | // resetting integral of the controller | ||
| 74 | ✗ | controller.reset_integral(); | |
| 75 | } | ||
| 76 | |||
| 77 | /** | ||
| 78 | * @brief Run the demo in a safe environment. | ||
| 79 | */ | ||
| 80 | ✗ | int main() | |
| 81 | { | ||
| 82 | try | ||
| 83 | { | ||
| 84 | ✗ | run_demo(); | |
| 85 | } | ||
| 86 | ✗ | catch (const std::runtime_error& e) | |
| 87 | { | ||
| 88 | ✗ | std::cout << "demo failed !\nerror message:\n" << e.what() << std::endl; | |
| 89 | ✗ | return 1; // informs continuous integration that this demo did not run | |
| 90 | // successfully | ||
| 91 | } | ||
| 92 | |||
| 93 | ✗ | return 0; // informs continuous integration that this demo did run | |
| 94 | // successfully | ||
| 95 | } | ||
| 96 |