pid_gains_setter.h
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00001 /*
00002  * Copyright (c) 2009, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 // Exposes a ROS interface for tuning a set of pid controllers.
00031 //
00032 // Author: Stuart Glaser
00033 
00034 #ifndef PID_GAINS_SETTER_H
00035 #define PID_GAINS_SETTER_H
00036 
00037 #include <vector>
00038 #include <string>
00039 #include "ros/node_handle.h"
00040 #include "control_toolbox/pid.h"
00041 #include "control_toolbox/SetPidGains.h"
00042 
00043 namespace control_toolbox {
00044 
00074 class PidGainsSetter
00075 {
00076 public:
00077   PidGainsSetter() {}
00078   ~PidGainsSetter();
00079 
00085   PidGainsSetter& add(Pid *pid);
00086 
00090   void advertise(const ros::NodeHandle &n);
00091 
00095   void advertise(const std::string &ns) { advertise(ros::NodeHandle(ns)); }
00096 
00097   bool setGains(control_toolbox::SetPidGains::Request &req,
00098                 control_toolbox::SetPidGains::Response &resp);
00099 
00100 private:
00101   ros::NodeHandle node_;
00102   ros::ServiceServer serve_set_gains_;
00103   std::vector<Pid*> pids_;
00104 };
00105 
00106 }
00107 
00108 #endif


control_toolbox
Author(s): Melonee Wise, Sachin Chitta, John Hsu
autogenerated on Fri Jan 3 2014 11:41:22