control_toolbox::PidGainsSetter Class Reference

Sets up services for quickly changing the gains for a control_toolbox::Pid Pid object. More...

#include <pid_gains_setter.h>

List of all members.

Public Member Functions
PidGainsSetter &	add (Pid *pid)
	Adds a Pid object.
void	advertise (const ros::NodeHandle &n)
	Advertises the "set_gains" service, initializing the PidGainsSetter.
void	advertise (const std::string &ns)
	Advertises the "set_gains" service, initializing the PidGainsSetter.
	PidGainsSetter ()
bool	setGains (control_toolbox::SetPidGains::Request &req, control_toolbox::SetPidGains::Response &resp)
	~PidGainsSetter ()
Private Attributes
ros::NodeHandle	node_
std::vector< Pid * >	pids_
ros::ServiceServer	serve_set_gains_

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Detailed Description

Sets up services for quickly changing the gains for a control_toolbox::Pid Pid object.

The PidGainsSetter class provides services for changing the gains of Pid objects over ROS. It advertise the "set_gains" service in the NodeHandle's namespace, with a type of control_toolbox/SetPidGains.

To use the object, add pids to the gains setter and then call advertise(). The PidGainsSetter will then update the gains of all the Pid objects when you call the set_gains service. (If you wish to have Pids with different gains, then you should use multiple PidGainsSetter objects).

 ros::NodeHandle node;
 control_toolbox::Pid a, b, c;
 control_toolbox::PidGainsSetter pid_gains_setter;

 pid_gains_setter.add(&a);
 pid_gains_setter.add(&b).add(&c);
 pid_gains_setter.advertise(node);
 

ROS API

• set_gains [control_toolbox::SetPidGains] - Updates the gains of all the Pid objects that have been added.

Definition at line 74 of file pid_gains_setter.h.

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Constructor & Destructor Documentation

control_toolbox::PidGainsSetter::PidGainsSetter

(

)

[inline]

Definition at line 77 of file pid_gains_setter.h.

control_toolbox::PidGainsSetter::~PidGainsSetter

(

)

Definition at line 34 of file pid_gains_setter.cpp.

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Member Function Documentation

PidGainsSetter & control_toolbox::PidGainsSetter::add

(

Pid *

pid

)

Adds a Pid object.

Adds a Pid object to be modified when new gains are set over the service.

Definition at line 39 of file pid_gains_setter.cpp.

void control_toolbox::PidGainsSetter::advertise

(

const ros::NodeHandle &

n

)

Advertises the "set_gains" service, initializing the PidGainsSetter.

Definition at line 46 of file pid_gains_setter.cpp.

void control_toolbox::PidGainsSetter::advertise

(

const std::string &

ns

)

[inline]

Advertises the "set_gains" service, initializing the PidGainsSetter.

Definition at line 95 of file pid_gains_setter.h.

bool control_toolbox::PidGainsSetter::setGains	(	control_toolbox::SetPidGains::Request &	req,
		control_toolbox::SetPidGains::Response &	resp
	)

Definition at line 52 of file pid_gains_setter.cpp.

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Member Data Documentation

ros::NodeHandle control_toolbox::PidGainsSetter::node_ [private]

Definition at line 101 of file pid_gains_setter.h.

std::vector<Pid*> control_toolbox::PidGainsSetter::pids_ [private]

Definition at line 103 of file pid_gains_setter.h.

ros::ServiceServer control_toolbox::PidGainsSetter::serve_set_gains_ [private]

Definition at line 102 of file pid_gains_setter.h.

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The documentation for this class was generated from the following files:

• pid_gains_setter.h
• pid_gains_setter.cpp