00001 /* 00002 * Copyright (c) 2009, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 // Exposes a ROS interface for tuning a set of pid controllers. 00031 // 00032 // Author: Stuart Glaser 00033 00034 #ifndef PID_GAINS_SETTER_H 00035 #define PID_GAINS_SETTER_H 00036 00037 #include <vector> 00038 #include <string> 00039 #include "ros/node_handle.h" 00040 #include "control_toolbox/pid.h" 00041 #include "control_toolbox/SetPidGains.h" 00042 00043 namespace control_toolbox { 00044 00074 class PidGainsSetter 00075 { 00076 public: 00077 PidGainsSetter() {} 00078 ~PidGainsSetter(); 00079 00085 PidGainsSetter& add(Pid *pid); 00086 00090 void advertise(const ros::NodeHandle &n); 00091 00095 void advertise(const std::string &ns) { advertise(ros::NodeHandle(ns)); } 00096 00097 bool setGains(control_toolbox::SetPidGains::Request &req, 00098 control_toolbox::SetPidGains::Response &resp); 00099 00100 private: 00101 ros::NodeHandle node_; 00102 ros::ServiceServer serve_set_gains_; 00103 std::vector<Pid*> pids_; 00104 }; 00105 00106 } 00107 00108 #endif