Class PendulumController

Defined in File pendulum_controller.hpp

Class Documentation

class PendulumController

Provides a simple PID controller for the inverted pendulum.

Public Functions

inline PendulumController(std::chrono::nanoseconds period, PIDProperties pid)

Default constructor.

Parameters:

period – [in] The update period of the controller.
pid – [in] The properties of the controller.

inline void on_sensor_message(pendulum_msgs::msg::JointState::ConstSharedPtr msg): Calculate new command based on new sensor state and PID controller properties.

inline void on_pendulum_setpoint(pendulum_msgs::msg::JointCommand::ConstSharedPtr msg): Callback when a pendulum JointCommand message is received.

inline const pendulum_msgs::msg::JointCommand &get_next_command_message() const: Retrieve the command calculated from the last sensor message.

inline bool next_message_ready() const: True if the command message has been initialized.

inline std::chrono::nanoseconds get_publish_period() const: Get the update period of the controller.

inline void set_pid_properties(const PIDProperties &properties): Set the properties of the PID controller (gains and desired output).

inline const PIDProperties &get_pid_properties() const: Get the properties of the controller.

inline void set_command(double command): Set the commanded position of the controller.

inline double get_command() const: Get the commanded position of the controller.

Public Members

size_t messages_received = 0: Count the number of messages received (number of times the callback fired).