pid_gains_setter.h

Go to the documentation of this file.

/*
 * Copyright (c) 2009, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

// Exposes a ROS interface for tuning a set of pid controllers.
//
// Author: Stuart Glaser

#ifndef PID_GAINS_SETTER_H
#define PID_GAINS_SETTER_H

#include <vector>
#include <string>
#include "ros/node_handle.h"
#include "control_toolbox/pid.h"
#include "control_toolbox/SetPidGains.h"

namespace control_toolbox {

class PidGainsSetter
{
public:
  PidGainsSetter() {}
  ~PidGainsSetter();

  PidGainsSetter& add(Pid *pid);

  void advertise(const ros::NodeHandle &n);

  void advertise(const std::string &ns) { advertise(ros::NodeHandle(ns)); }

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

private:
  ros::NodeHandle node_;
  ros::ServiceServer serve_set_gains_;
  std::vector<Pid*> pids_;
};

}

#endif