Class package_template::Gains_configuration¶

class Gains_configuration¶

Abstract class defining for the PID configuration.

This virtual object describes the configuration a PID objects is waiting for. Daughter class will for example be initialize through files, ROS params, etc.

Subclassed by package_template::DefaultConfiguration, package_template::File_configuration, package_template::RosParameters_configuration

Public Functions

inline virtual ~Gains_configuration()¶: The default destructor do nothing.

virtual double get_kp() const = 0¶

Get the proportional gain.

Returns:: double

virtual double get_kd() const = 0¶

Get the derivative gain.

Returns:: double

virtual double get_ki() const = 0¶

Get the integral gain.

Returns:: double

virtual bool has_error() const = 0¶

Enquire if an error was encountered while reading the configuration.