File file_configuration.hpp

Author

Vincent Berenz

Copyright

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

Date

2019-12-09

namespace package_template

class File_configuration : public package_template::Gains_configuration

#include <file_configuration.hpp>

Reading configuration from yaml file.

Public Functions

File_configuration(std::string yaml_file)

Returns error encountered when reading configuration.

See also

has_error()

Parameters:

yaml_file – absolute path to configuration yaml file. The file is expected to have parameters “kp”, “kd” and “ki”

virtual double get_kp() const

Get the proportional gain.

Returns:

double

virtual double get_kd() const

Get the derivative gain.

Returns:

double

virtual double get_ki() const

Get the integral gain.

Returns:

double

virtual bool has_error() const

Enquire if an error was encountered while reading the configuration.

See also

get_error()

Returns:

true if an error has been encountered

Returns:

false otherwise

virtual std::string get_error() const

returns error encountered when reading configuration

See also

has_error()

Private Members

double kp_

Proportinal gain.

double kd_

Derivative gain.

double ki_

Integral gain.

std::string error_message_

Internal error message.

bool error_

True if an error occured.