include/diffbot_base/pid.h

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#include <ros/duration.h>
#include <control_toolbox/pid.h>
 
// Dynamic reconfigure
#include <dynamic_reconfigure/server.h>
#include <diffbot_base/ParametersConfig.h>
#include <boost/thread/mutex.hpp>
 
namespace diffbot_base
{
    class PID : public control_toolbox::Pid
    {
    public:
        PID(double p=0.0, double i=0.0, double d=0.0, double i_max=0.0, double i_min=0.0, bool antiwindup=false, double out_max=0.0, double out_min=0.0);
 
        void init(ros::NodeHandle& nh, double f, double p, double i, double d, double i_max, double i_min, bool antiwindup, double out_max, double out_min);
 
        double operator()(const double &measured_value, const double &setpoint, const ros::Duration &dt);
 
        void getParameters(double &f, double &p, double &i, double &d, double &i_max, double &i_min);
        void getParameters(double &f, double &p, double &i, double &d, double &i_max, double &i_min, bool &antiwindup);
 
        void setParameters(double f, double p, double i, double d, double i_max, double i_min, bool antiwindup = false);
 
        void setOutputLimits(double out_min, double out_max);
 
        double clamp(const double& value, const double& lower_limit, const double& upper_limit);
 
        inline double getError() const { return error_; };
 
        void initDynamicReconfig(ros::NodeHandle &node);
 
        void updateDynamicReconfig();
        void updateDynamicReconfig(Gains gains_config);
        void updateDynamicReconfig(diffbot_base::ParametersConfig config);
 
        void dynamicReconfigCallback(diffbot_base::ParametersConfig &config, uint32_t /*level*/);
 
    private:
        double f_;
        double error_;
        double out_min_;
        double out_max_;
 
        // Dynamic reconfigure
        bool dynamic_reconfig_initialized_;
        typedef dynamic_reconfigure::Server<diffbot_base::ParametersConfig> DynamicReconfigServer;
        boost::shared_ptr<DynamicReconfigServer> param_reconfig_server_;
        DynamicReconfigServer::CallbackType param_reconfig_callback_;
 
        boost::recursive_mutex param_reconfig_mutex_;
    };
 
}