Program Listing for File pid_ros.hpp

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// Copyright (c) 2020, Open Source Robotics Foundation, Inc.
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#ifndef CONTROL_TOOLBOX__PID_ROS_HPP_
#define CONTROL_TOOLBOX__PID_ROS_HPP_

#include <memory>
#include <string>

#include "control_msgs/msg/pid_state.hpp"

#include "rclcpp/clock.hpp"
#include "rclcpp/duration.hpp"
#include "rclcpp/node.hpp"

#include "realtime_tools/realtime_buffer.h"
#include "realtime_tools/realtime_publisher.h"

#include "control_toolbox/pid.hpp"
#include "control_toolbox/visibility_control.hpp"

namespace control_toolbox
{

class CONTROL_TOOLBOX_PUBLIC PidROS
{
public:
  template<class NodeT>
  explicit PidROS(
    std::shared_ptr<NodeT> node_ptr,
    std::string prefix = std::string(""),
    bool prefix_is_for_params = false
  )
  : PidROS(
      node_ptr->get_node_base_interface(),
      node_ptr->get_node_logging_interface(),
      node_ptr->get_node_parameters_interface(),
      node_ptr->get_node_topics_interface(),
           prefix, prefix_is_for_params)
  {
  }

  PidROS(
    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base,
    rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging,
    rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_params,
    rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr topics_interface,
    std::string prefix = std::string(""), bool prefix_is_for_params = false);

  void initPid(double p, double i, double d, double i_max, double i_min, bool antiwindup);

  bool initPid();

  void reset();

  double computeCommand(double error, rclcpp::Duration dt);

  double computeCommand(double error, double error_dot, rclcpp::Duration dt);

  Pid::Gains getGains();

  void setGains(double p, double i, double d, double i_max, double i_min, bool antiwindup = false);

  void setGains(const Pid::Gains & gains);

  void setCurrentCmd(double cmd);

  double getCurrentCmd();

  std::shared_ptr<rclcpp::Publisher<control_msgs::msg::PidState>> getPidStatePublisher();

  void getCurrentPIDErrors(double & pe, double & ie, double & de);

  void printValues();

  inline rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr
  getParametersCallbackHandle()
  {
    return parameter_callback_;
  }

protected:
  std::string topic_prefix_;
  std::string param_prefix_;

private:
  void setParameterEventCallback();

  void publishPIDState(double cmd, double error, rclcpp::Duration dt);

  void declareParam(const std::string & param_name, rclcpp::ParameterValue param_value);

  bool getDoubleParam(const std::string & param_name, double & value);

  bool getBooleanParam(const std::string & param_name, bool & value);

  void initialize(std::string topic_prefix);

  rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr parameter_callback_;

  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_;
  rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_;
  rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_params_;
  rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr topics_interface_;

  std::shared_ptr<realtime_tools::RealtimePublisher<control_msgs::msg::PidState>> rt_state_pub_;
  std::shared_ptr<rclcpp::Publisher<control_msgs::msg::PidState>> state_pub_;

  Pid pid_;
};

}  // namespace control_toolbox

#endif  // CONTROL_TOOLBOX__PID_ROS_HPP_