| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /** | ||
| 2 | * @file gains_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 <iostream> | ||
| 12 | #include <string> | ||
| 13 | |||
| 14 | namespace package_template | ||
| 15 | { | ||
| 16 | /** @brief Abstract class defining for the PID configuration. | ||
| 17 | * | ||
| 18 | * This virtual object describes the configuration a PID objects is waiting | ||
| 19 | * for. Daughter class will for example be initialize through files, ROS | ||
| 20 | * params, etc. | ||
| 21 | */ | ||
| 22 | class Gains_configuration | ||
| 23 | { | ||
| 24 | public: | ||
| 25 | /** | ||
| 26 | * @brief The default destructor do nothing. | ||
| 27 | */ | ||
| 28 | 12 | virtual ~Gains_configuration() | |
| 29 | { | ||
| 30 | } | ||
| 31 | |||
| 32 | /** @brief Get the proportional gain. | ||
| 33 | * @return double | ||
| 34 | */ | ||
| 35 | virtual double get_kp() const = 0; | ||
| 36 | |||
| 37 | /** @brief Get the derivative gain. | ||
| 38 | * @return double | ||
| 39 | */ | ||
| 40 | virtual double get_kd() const = 0; | ||
| 41 | |||
| 42 | /** @brief Get the integral gain. | ||
| 43 | * @return double | ||
| 44 | */ | ||
| 45 | virtual double get_ki() const = 0; | ||
| 46 | |||
| 47 | /** @brief Enquire if an error was encountered while reading the | ||
| 48 | * configuration. | ||
| 49 | * @see get_error() | ||
| 50 | * @return true if an error has been encountered | ||
| 51 | * @return false otherwise | ||
| 52 | */ | ||
| 53 | virtual bool has_error() const = 0; | ||
| 54 | |||
| 55 | /** | ||
| 56 | * returns error encountered when reading configuration | ||
| 57 | * @see has_error() | ||
| 58 | */ | ||
| 59 | virtual std::string get_error() const = 0; | ||
| 60 | }; | ||
| 61 | |||
| 62 | /*! print values encapsulated by the provided configuration console on the | ||
| 63 | * standard output */ | ||
| 64 | void print_configuration(const Gains_configuration& configuration); | ||
| 65 | |||
| 66 | } // namespace package_template | ||
| 67 |