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>

Public Member Functions
PidGainsSetter &	add (Pid *pid)
	Adds a Pid object. More...
void	advertise (const ros::NodeHandle &n)
	Advertises the "set_gains" service, initializing the PidGainsSetter. More...
void	advertise (const std::string &ns)
	Advertises the "set_gains" service, initializing the PidGainsSetter. More...
	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_

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.

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.

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.

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