File default_configuration.hpp

Author

Vincent Berenz

Copyright

Copyright (c) 2019, New York University and Max Planck Gesellschaft, License BSD-3-Clause

Date

2019-12-09

Defines

DEFAULT_KP
DEFAULT_KD
DEFAULT_KI
namespace package_template
class DefaultConfiguration : public package_template::Gains_configuration
#include <default_configuration.hpp>

Default configuration for the kp, kd, ki paramters.

This class initialize the PID gains as follow:

  • kp = DEFAULT_KP,

  • kd = DEFAULT_KD

  • ki = DEFAULT_KI

Public Functions

inline ~DefaultConfiguration()

Here we use the default destructor.

virtual double get_kp() const

Always returns DEFAULT_KP.

Returns:

double DEFAULT_KP

virtual double get_kd() const

Always returns DEFAULT_KD.

Returns:

double DEFAULT_KD

virtual double get_ki() const

Always returns DEFAULT_KI.

Returns:

double DEFAULT_KI

virtual bool has_error() const

Always returns false.

Returns:

true Never

Returns:

false Always

virtual std::string get_error() const

Always returns “no error”.

Returns:

std::string “no error”