File gains_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

Functions

void print_configuration(const Gains_configuration &configuration)¶: print values encapsulated by the provided configuration console on the standard output

class Gains_configuration

#include <gains_configuration.hpp>

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.