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