pid_gains_setter.h

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

#ifndef CONTROL_TOOLBOX__PID_GAINS_SETTER_H
#define CONTROL_TOOLBOX__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